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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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
• 2070: RPM 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_DIS3 (INT32)

SIM_GZ Wheels 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	200		100

SIM_GZ_WH_DIS4 (INT32)

SIM_GZ Wheels 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	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_FAIL3 (INT32)

SIM_GZ Wheels 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_WH_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	200		-1

SIM_GZ_WH_FAIL4 (INT32)

SIM_GZ Wheels 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_WH_FUNC4).

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_FUNC3 (INT32)

SIM_GZ Wheels 3 Output Function.

Select what should be output on SIM_GZ Wheels 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_WH_FUNC4 (INT32)

SIM_GZ Wheels 4 Output Function.

Select what should be output on SIM_GZ Wheels 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_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_MAX3 (INT32)

SIM_GZ Wheels 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		200

SIM_GZ_WH_MAX4 (INT32)

SIM_GZ Wheels 4 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_MIN3 (INT32)

SIM_GZ Wheels 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	200		0

SIM_GZ_WH_MIN4 (INT32)

SIM_GZ Wheels 4 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
• 2: SIM_GZ Wheels 3
• 3: SIM_GZ Wheels 4

Reboot	minValue	maxValue	increment	default	unit
	0	15		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

VTQ_IO_DIS0 (INT32)

Vertiq IO CVI 0 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	65535		0

VTQ_IO_DIS1 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS10 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS11 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS12 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS13 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS14 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS15 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_DIS2 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS3 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS4 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS5 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS6 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS7 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS8 (INT32)

Vertiq IO CVI 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	65535		0

VTQ_IO_DIS9 (INT32)

Vertiq IO CVI 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
	0	65535		0

VTQ_IO_FAIL0 (INT32)

Vertiq IO CVI 0 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 VTQ_IO_FUNC0).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL1 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC1).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL10 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC10).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL11 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC11).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL12 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC12).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL13 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC13).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL14 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC14).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL15 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC15).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL2 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC2).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL3 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC3).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL4 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC4).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL5 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC5).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL6 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC6).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL7 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC7).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL8 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC8).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FAIL9 (INT32)

Vertiq IO CVI 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 VTQ_IO_FUNC9).

Reboot	minValue	maxValue	increment	default	unit
	-1	500		-1

VTQ_IO_FUNC0 (INT32)

Vertiq IO CVI 0 Output Function.

Select what should be output on Vertiq IO CVI 0. 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

VTQ_IO_FUNC1 (INT32)

Vertiq IO CVI 1 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC10 (INT32)

Vertiq IO CVI 10 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC11 (INT32)

Vertiq IO CVI 11 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC12 (INT32)

Vertiq IO CVI 12 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC13 (INT32)

Vertiq IO CVI 13 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC14 (INT32)

Vertiq IO CVI 14 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC15 (INT32)

Vertiq IO CVI 15 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC2 (INT32)

Vertiq IO CVI 2 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC3 (INT32)

Vertiq IO CVI 3 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC4 (INT32)

Vertiq IO CVI 4 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC5 (INT32)

Vertiq IO CVI 5 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC6 (INT32)

Vertiq IO CVI 6 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC7 (INT32)

Vertiq IO CVI 7 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC8 (INT32)

Vertiq IO CVI 8 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_FUNC9 (INT32)

Vertiq IO CVI 9 Output Function.

Select what should be output on Vertiq IO CVI 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

VTQ_IO_MAX0 (INT32)

Vertiq IO CVI 0 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX1 (INT32)

Vertiq IO CVI 1 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX10 (INT32)

Vertiq IO CVI 10 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX11 (INT32)

Vertiq IO CVI 11 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX12 (INT32)

Vertiq IO CVI 12 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX13 (INT32)

Vertiq IO CVI 13 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX14 (INT32)

Vertiq IO CVI 14 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX15 (INT32)

Vertiq IO CVI 15 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX2 (INT32)

Vertiq IO CVI 2 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX3 (INT32)

Vertiq IO CVI 3 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX4 (INT32)

Vertiq IO CVI 4 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX5 (INT32)

Vertiq IO CVI 5 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX6 (INT32)

Vertiq IO CVI 6 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX7 (INT32)

Vertiq IO CVI 7 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX8 (INT32)

Vertiq IO CVI 8 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MAX9 (INT32)

Vertiq IO CVI 9 Maximum Value.

Maxmimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		65535

VTQ_IO_MIN0 (INT32)

Vertiq IO CVI 0 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN1 (INT32)

Vertiq IO CVI 1 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN10 (INT32)

Vertiq IO CVI 10 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN11 (INT32)

Vertiq IO CVI 11 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN12 (INT32)

Vertiq IO CVI 12 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN13 (INT32)

Vertiq IO CVI 13 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN14 (INT32)

Vertiq IO CVI 14 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN15 (INT32)

Vertiq IO CVI 15 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN2 (INT32)

Vertiq IO CVI 2 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN3 (INT32)

Vertiq IO CVI 3 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN4 (INT32)

Vertiq IO CVI 4 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN5 (INT32)

Vertiq IO CVI 5 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN6 (INT32)

Vertiq IO CVI 6 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN7 (INT32)

Vertiq IO CVI 7 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN8 (INT32)

Vertiq IO CVI 8 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_MIN9 (INT32)

Vertiq IO CVI 9 Minimum Value.

Minimum output value (when not disarmed).

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

VTQ_IO_REV (INT32)

Reverse Output Range for Vertiq IO.

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

Bitmask:

• -1: Vertiq IO CVI 0
• 0: Vertiq IO CVI 1
• 1: Vertiq IO CVI 2
• 2: Vertiq IO CVI 3
• 3: Vertiq IO CVI 4
• 4: Vertiq IO CVI 5
• 5: Vertiq IO CVI 6
• 6: Vertiq IO CVI 7
• 7: Vertiq IO CVI 8
• 8: Vertiq IO CVI 9
• 9: Vertiq IO CVI 10
• 10: Vertiq IO CVI 11
• 11: Vertiq IO CVI 12
• 12: Vertiq IO CVI 13
• 13: Vertiq IO CVI 14
• 14: Vertiq IO CVI 15

Reboot	minValue	maxValue	increment	default	unit
	0	32767		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_I_OVERWRITE (FLOAT)

Battery 1 idle current overwrite.

This parameter allows to overwrite the current measured during idle (unarmed) state with a user-defined constant value (expressed in amperes). When the system is armed, the measured current is used. This is useful because on certain ESCs current measurements are inaccurate in case of no load. Negative values are ignored and will cause the measured current to be used. The default value of 0 disables the overwrite, in which case the measured value is always used.

Reboot	minValue	maxValue	increment	default	unit
✓				0

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_I_OVERWRITE (FLOAT)

Battery 2 idle current overwrite.

This parameter allows to overwrite the current measured during idle (unarmed) state with a user-defined constant value (expressed in amperes). When the system is armed, the measured current is used. This is useful because on certain ESCs current measurements are inaccurate in case of no load. Negative values are ignored and will cause the measured current to be used. The default value of 0 disables the overwrite, in which case the measured value is always used.

Reboot	minValue	maxValue	increment	default	unit
✓				0

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 (Camera Protocol v1)
• 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.

Threshold for battery percentage below arming is prohibited. A negative value means BAT_CRIT_THR is the threshold.

Reboot	minValue	maxValue	increment	default	unit
	-1	0.9	0.01	-1.	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_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_ACT (INT32)

Low position accuracy action.

Action the system takes when the estimated position has an accuracy below the specified threshold. See COM_POS_LOW_EPH to set the failsafe threshold. The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode, otherwise it is only a warning.

Values:

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

Reboot	minValue	maxValue	increment	default	unit
			1	3

COM_POS_LOW_EPH (FLOAT)

Low position accuracy failsafe threshold.

This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold. Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT), and a high failsafe threshold (COM_POS_FS_EPH). 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 allow motors to spin 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_GPS_YAW_OFF (FLOAT)

Heading/Yaw offset for dual antenna GPS.

Reboot	minValue	maxValue	increment	default	unit
	0.0	360.0		0.0	deg

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. If GPS is set as reference but altitude fusion is disabled in EKF2_GPS_CTRL, the GPS altitude is still used to initiaize the bias of the other height sensors.

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 is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.

Values:

• 0: Disable range fusion
• 1: Enabled (conditional mode)
• 2: Enabled

Reboot	minValue	maxValue	increment	default	unit
				1

EKF2_RNG_DELAY (FLOAT)

Range finder measurement delay relative to IMU measurements.

Reboot	minValue	maxValue	increment	default	unit
✓	0	300		5	ms

EKF2_RNG_FOG (FLOAT)

Maximum distance at which the range finder could detect fog (m).

Limit for fog detection. If the range finder measures a distance greater than this value, the measurement is considered to not be blocked by fog or rain. If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled

Reboot	minValue	maxValue	increment	default	unit
	0.0	20.0		1.0	m

EKF2_RNG_GATE (FLOAT)

Gate size for range finder 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_RNG_K_GATE (FLOAT)

Gate size used for range finder kinematic consistency check.

To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.

Reboot	minValue	maxValue	increment	default	unit
	0.1	5.0		1.0	SD

EKF2_RNG_NOISE (FLOAT)

Measurement noise for range finder fusion.

Reboot	minValue	maxValue	increment	default	unit
	0.01			0.1	m

EKF2_RNG_PITCH (FLOAT)

Range sensor pitch offset.

Reboot	minValue	maxValue	increment	default	unit
	-0.75	0.75		0.0	rad

EKF2_RNG_POS_X (FLOAT)

X position of range finder origin in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_RNG_POS_Y (FLOAT)

Y position of range finder origin in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_RNG_POS_Z (FLOAT)

Z position of range finder origin in body frame.

Forward axis with origin relative to vehicle centre of gravity

Reboot	minValue	maxValue	increment	default	unit
				0.0	m

EKF2_RNG_QLTY_T (FLOAT)

Minumum range validity period.

Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)

Reboot	minValue	maxValue	increment	default	unit
	0.1	5		1.0	s

EKF2_RNG_SFE (FLOAT)

Range finder range dependent noise scaler.

Specifies the increase in range finder noise with range.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.2		0.05	m/m

EKF2_SEL_ERR_RED (FLOAT)

Selector error reduce threshold.

EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.

Reboot	minValue	maxValue	increment	default	unit
				0.2

EKF2_SEL_IMU_ACC (FLOAT)

Selector acceleration threshold.

EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.

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

EKF2_SEL_IMU_ANG (FLOAT)

Selector angular threshold.

EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.

Reboot	minValue	maxValue	increment	default	unit
				15.0	deg

EKF2_SEL_IMU_RAT (FLOAT)

Selector angular rate threshold.

EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.

Reboot	minValue	maxValue	increment	default	unit
				7.0	deg/s

EKF2_SEL_IMU_VEL (FLOAT)

Selector angular threshold.

EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.

Reboot	minValue	maxValue	increment	default	unit
				2.0	m/s

EKF2_SYNT_MAG_Z (INT32)

Enable synthetic magnetometer Z component measurement.

Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

EKF2_TAS_GATE (FLOAT)

Gate size for TAS 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_TAU_POS (FLOAT)

Output predictor position time constant.

Controls how tightly the output track the EKF states

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0		0.25	s

EKF2_TAU_VEL (FLOAT)

Time constant of the velocity output prediction and smoothing filter.

Reboot	minValue	maxValue	increment	default	unit
		1.0		0.25	s

EKF2_TERR_GRAD (FLOAT)

Magnitude of terrain gradient.

Reboot	minValue	maxValue	increment	default	unit
	0.0			0.5	m/m

EKF2_TERR_NOISE (FLOAT)

Terrain altitude process noise.

Reboot	minValue	maxValue	increment	default	unit
	0.5			5.0	m/s

EKF2_VEL_LIM (FLOAT)

Velocity limit.

Reboot	minValue	maxValue	increment	default	unit
		299792458		100	m/s

EKF2_WIND_NSD (FLOAT)

Process noise spectral density for wind velocity prediction.

When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0		0.05	m/s^2/sqrt(Hz)

ESC

ESC_BL_VER (INT32)

Required esc bootloader version.

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

ESC_FW_VER (INT32)

Required esc firmware version.

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

ESC_HW_VER (INT32)

Required esc hardware version.

Reboot	minValue	maxValue	increment	default	unit
	0	65535		0

Events

EV_TSK_RC_LOSS (INT32)

RC Loss Alarm.

Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

EV_TSK_STAT_DIS (INT32)

Status Display.

Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

FW Attitude Control

FW_MAN_P_MAX (FLOAT)

Maximum manual pitch angle.

Applies to both directions in all manual modes with attitude stabilization but without altitude control

Reboot	minValue	maxValue	increment	default	unit
	0.0	90.0	0.5	30.0	deg

FW_MAN_R_MAX (FLOAT)

Maximum manual roll angle.

Applies to both directions in all manual modes with attitude stabilization

Reboot	minValue	maxValue	increment	default	unit
	0.0	90.0	0.5	45.0	deg

FW_MAN_YR_MAX (FLOAT)

Maximum manually added yaw rate.

This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.

Reboot	minValue	maxValue	increment	default	unit
	0		0.5	30.	deg/s

FW_PSP_OFF (FLOAT)

Pitch setpoint offset (pitch at level flight).

An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0	0.5	0.0	deg

FW_P_RMAX_NEG (FLOAT)

Maximum negative / down pitch rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.0	180	0.5	60.0	deg/s

FW_P_RMAX_POS (FLOAT)

Maximum positive / up pitch rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.0	180	0.5	60.0	deg/s

FW_P_TC (FLOAT)

Attitude pitch time constant.

This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.

Reboot	minValue	maxValue	increment	default	unit
	0.2	1.0	0.05	0.4	s

FW_R_RMAX (FLOAT)

Maximum roll rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.0	180	0.5	70.0	deg/s

FW_R_TC (FLOAT)

Attitude Roll Time Constant.

This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.

Reboot	minValue	maxValue	increment	default	unit
	0.2	1.0	0.05	0.4	s

FW_SPOILERS_LND (FLOAT)

Spoiler landing setting.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.	norm

FW_WR_FF (FLOAT)

Wheel steering rate feed forward.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.05	0.2	%/rad/s

FW_WR_I (FLOAT)

Wheel steering rate integrator gain.

This gain defines how much control response will result out of a steady state error. It trims any constant error.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.1	%/rad

FW_WR_IMAX (FLOAT)

Wheel steering rate integrator limit.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.05	0.4

FW_WR_P (FLOAT)

Wheel steering rate proportional gain.

This defines how much the wheel steering input will be commanded depending on the current body angular rate error.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.5	%/rad/s

FW_W_EN (INT32)

Enable wheel steering controller.

Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_W_RMAX (FLOAT)

Maximum wheel steering rate.

This limits the maximum wheel steering rate the controller will output (in degrees per second).

Reboot	minValue	maxValue	increment	default	unit
	0.0	90.0	0.5	30.0	deg/s

FW_Y_RMAX (FLOAT)

Maximum yaw rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.0	180	0.5	50.0	deg/s

FW Auto Landing

FW_LND_ABORT (INT32)

Bit mask to set the automatic landing abort conditions.

Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)

Bitmask:

• 0: Abort if terrain is not found (only applies to mission landings)
• 1: Abort if terrain times out (after a first successful measurement)

Reboot	minValue	maxValue	increment	default	unit
	0	3		3

FW_LND_AIRSPD (FLOAT)

Landing airspeed.

The calibrated airspeed setpoint during landing. If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.

Reboot	minValue	maxValue	increment	default	unit
	-1.0		0.1	-1.	m/s

FW_LND_ANG (FLOAT)

Maximum landing slope angle.

Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.

Reboot	minValue	maxValue	increment	default	unit
	1.0	15.0	0.5	5.0	deg

FW_LND_EARLYCFG (INT32)

Early landing configuration deployment.

Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in the loiter-down waypoint before the final approach. Otherwise is enabled only in the final approach.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_LND_FLALT (FLOAT)

Landing flare altitude (relative to landing altitude).

NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.5	0.5	m

FW_LND_FL_PMAX (FLOAT)

Flare, maximum pitch.

Maximum pitch during landing flare.

Reboot	minValue	maxValue	increment	default	unit
	0	45.0	0.5	15.0	deg

FW_LND_FL_PMIN (FLOAT)

Flare, minimum pitch.

Minimum pitch during landing flare.

Reboot	minValue	maxValue	increment	default	unit
	-5	15.0	0.5	2.5	deg

FW_LND_FL_SINK (FLOAT)

Landing flare sink rate.

TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)

Reboot	minValue	maxValue	increment	default	unit
	0.0	2	0.1	0.25	m/s

FW_LND_FL_TIME (FLOAT)

Landing flare time.

Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude

Reboot	minValue	maxValue	increment	default	unit
	0.1	5.0	0.1	1.0	s

FW_LND_NUDGE (INT32)

Landing touchdown nudging option.

Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).

Values:

• 0: Disable nudging
• 1: Nudge approach angle
• 2: Nudge approach path

Reboot	minValue	maxValue	increment	default	unit
	0	2		2

FW_LND_TD_OFF (FLOAT)

Maximum lateral position offset for the touchdown point.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	1	3.0	m

FW_LND_TD_TIME (FLOAT)

Landing touchdown time (since flare start).

This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).

Reboot	minValue	maxValue	increment	default	unit
	-1.0	5.0	0.1	-1.0	s

FW_LND_THRTC_SC (FLOAT)

Altitude time constant factor for landing and low-height flight.

The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.

Reboot	minValue	maxValue	increment	default	unit
	0.2	1.0	0.1	1.0

FW_LND_USETER (INT32)

Use terrain estimation during landing.

This is critical for detecting when to flare, and should be enabled if possible. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.

Values:

• 0: Disable the terrain estimate
• 1: Use the terrain estimate to trigger the flare (only)
• 2: Calculate landing glide slope relative to the terrain estimate

Reboot	minValue	maxValue	increment	default	unit
	0	2		1

FW Geometry

FW_WING_HEIGHT (FLOAT)

Height (AGL) of the wings when the aircraft is on the ground.

This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)

Reboot	minValue	maxValue	increment	default	unit
	0.0		1	0.5	m

FW_WING_SPAN (FLOAT)

The aircraft's wing span (length from tip to tip).

This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)

Reboot	minValue	maxValue	increment	default	unit
	0.1		0.1	3.0	m

FW Launch detection

FW_LAUN_AC_T (FLOAT)

Trigger time.

Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.

Reboot	minValue	maxValue	increment	default	unit
	0.0	5.0	0.05	0.05	s

FW_LAUN_AC_THLD (FLOAT)

Trigger acceleration threshold.

Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.

Reboot	minValue	maxValue	increment	default	unit
	0		0.5	30.0	m/s^2

FW_LAUN_DETCN_ON (INT32)

Fixed-wing launch detection.

Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_LAUN_MOT_DEL (FLOAT)

Motor delay.

Start the motor(s) this amount of seconds after launch is detected.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.5	0.0	s

FW NPFG Control

NPFG_DAMPING (FLOAT)

NPFG damping ratio.

Damping ratio of NPFG control law.

Reboot	minValue	maxValue	increment	default	unit
	0.10	1.00	0.01	0.7

NPFG_EN_MIN_GSP (INT32)

Enable minimum forward ground speed maintaining excess wind handling logic.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

NPFG_GSP_MAX_TK (FLOAT)

Maximum, minimum forward ground speed for track keeping in excess wind.

The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.5	5.0	m/s

NPFG_LB_PERIOD (INT32)

Enable automatic lower bound on the NPFG period.

Avoids limit cycling from a too aggressively tuned period/damping combination. If false, also disables upper bound NPFG_PERIOD_UB.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

NPFG_PERIOD (FLOAT)

NPFG period.

Period of NPFG control law.

Reboot	minValue	maxValue	increment	default	unit
	1.0	100.0	0.1	10.0	s

NPFG_PERIOD_SF (FLOAT)

Period safety factor.

Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.

Reboot	minValue	maxValue	increment	default	unit
	1.0	10.0	0.1	1.5

NPFG_ROLL_TC (FLOAT)

Roll time constant.

Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.

Reboot	minValue	maxValue	increment	default	unit
	0.00	2.00	0.05	0.5	s

NPFG_SW_DST_MLT (FLOAT)

NPFG switch distance multiplier.

Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.0	0.01	0.32

NPFG_TRACK_KEEP (INT32)

Enable track keeping excess wind handling logic.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

NPFG_UB_PERIOD (INT32)

Enable automatic upper bound on the NPFG period.

Adapts period to maintain track keeping in variable winds and path curvature.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

NPFG_WIND_REG (INT32)

Enable wind excess regulation.

Disabling this parameter further disables all other airspeed incrementation options.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

FW Path Control

FW_PN_R_SLEW_MAX (FLOAT)

Path navigation roll slew rate limit.

Maximum change in roll angle setpoint per second. Applied in all Auto modes, plus manual Position & Altitude modes.

Reboot	minValue	maxValue	increment	default	unit
	0		1	90.0	deg/s

FW_POS_STK_CONF (INT32)

Custom stick configuration.

Applies in manual Position and Altitude flight modes.

Bitmask:

• 0: Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
• 1: Enable airspeed setpoint via sticks in altitude and position flight mode

Reboot	minValue	maxValue	increment	default	unit
	0	3		2

FW_R_LIM (FLOAT)

Maximum roll angle setpoint.

Applies in any altitude controlled flight mode.

Reboot	minValue	maxValue	increment	default	unit
	35.0	65.0	0.5	50.0	deg

FW_TKO_PITCH_MIN (FLOAT)

Minimum pitch during takeoff.

Reboot	minValue	maxValue	increment	default	unit
	-5.0	30.0	0.5	10.0	deg

FW Performance

FW_AIRSPD_MAX (FLOAT)

Maximum Airspeed (CAS).

The maximal airspeed (calibrated airspeed) the user is able to command.

Reboot	minValue	maxValue	increment	default	unit
	0.5		0.5	20.0	m/s

FW_AIRSPD_MIN (FLOAT)

Minimum Airspeed (CAS).

The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).

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

FW_AIRSPD_STALL (FLOAT)

Stall Airspeed (CAS).

The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.

Reboot	minValue	maxValue	increment	default	unit
	0.5		0.5	7.0	m/s

FW_AIRSPD_TRIM (FLOAT)

Trim (Cruise) Airspeed.

The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).

Reboot	minValue	maxValue	increment	default	unit
	0.5		0.5	15.0	m/s

FW_SERVICE_CEIL (FLOAT)

Service ceiling.

Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.

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

FW_THR_ASPD_MAX (FLOAT)

Throttle at max airspeed.

Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.

FW_THR_ASPD_MIN (FLOAT)

Throttle at min airspeed.

Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.

FW_THR_TRIM (FLOAT)

Trim throttle.

Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.6	norm

FW_T_CLMB_MAX (FLOAT)

Maximum climb rate.

This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.

Reboot	minValue	maxValue	increment	default	unit
	1.0	15.0	0.5	5.0	m/s

FW_T_SINK_MIN (FLOAT)

Minimum descent rate.

This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.

Reboot	minValue	maxValue	increment	default	unit
	1.0	5.0	0.5	2.0	m/s

WEIGHT_BASE (FLOAT)

Vehicle base weight.

This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.

Reboot	minValue	maxValue	increment	default	unit
			0.5	-1.0	kg

WEIGHT_GROSS (FLOAT)

Vehicle gross weight.

This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.

Reboot	minValue	maxValue	increment	default	unit
			0.1	-1.0	kg

FW Rate Control

FW_ACRO_X_MAX (FLOAT)

Acro body roll max rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	10	720		90	deg

FW_ACRO_YAW_EN (INT32)

Enable yaw rate controller in Acro.

If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_ACRO_Y_MAX (FLOAT)

Acro body pitch max rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	10	720		90	deg

FW_ACRO_Z_MAX (FLOAT)

Acro body yaw max rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	10	720		45	deg

FW_ARSP_SCALE_EN (INT32)

Enable airspeed scaling.

This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

FW_BAT_SCALE_EN (INT32)

Enable throttle scale by battery level.

This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

FW_DTRIM_P_VMAX (FLOAT)

Pitch trim increment at maximum airspeed.

This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_DTRIM_P_VMIN (FLOAT)

Pitch trim increment at minimum airspeed.

This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_DTRIM_R_VMAX (FLOAT)

Roll trim increment at maximum airspeed.

This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_DTRIM_R_VMIN (FLOAT)

Roll trim increment at minimum airspeed.

This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_DTRIM_Y_VMAX (FLOAT)

Yaw trim increment at maximum airspeed.

This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_DTRIM_Y_VMIN (FLOAT)

Yaw trim increment at minimum airspeed.

This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

FW_FLAPS_LND_SCL (FLOAT)

Flaps setting during landing.

Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0	norm

FW_FLAPS_TO_SCL (FLOAT)

Flaps setting during take-off.

Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.0	norm

FW_MAN_P_SC (FLOAT)

Manual pitch scale.

Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	1.0	norm

FW_MAN_R_SC (FLOAT)

Manual roll scale.

Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0	norm

FW_MAN_Y_SC (FLOAT)

Manual yaw scale.

Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	1.0	norm

FW_PR_D (FLOAT)

Pitch rate derivative gain.

Pitch rate differential gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.	%/rad/s

FW_PR_FF (FLOAT)

Pitch rate feed forward.

Direct feed forward from rate setpoint to control surface output

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.05	0.5	%/rad/s

FW_PR_I (FLOAT)

Pitch rate integrator gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.1	%/rad

FW_PR_IMAX (FLOAT)

Pitch rate integrator limit.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.05	0.4

FW_PR_P (FLOAT)

Pitch rate proportional gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.08	%/rad/s

FW_RLL_TO_YAW_FF (FLOAT)

Roll control to yaw control feedforward gain.

This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.0

FW_RR_D (FLOAT)

Roll rate derivative gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.0	%/rad/s

FW_RR_FF (FLOAT)

Roll rate feed forward.

Direct feed forward from rate setpoint to control surface output.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.05	0.5	%/rad/s

FW_RR_I (FLOAT)

Roll rate integrator gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.01	0.1	%/rad

FW_RR_IMAX (FLOAT)

Roll integrator limit.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.05	0.2

FW_RR_P (FLOAT)

Roll rate proportional gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.05	%/rad/s

FW_SPOILERS_MAN (INT32)

Spoiler input in manual flight.

Chose source for manual setting of spoilers in manual flight modes.

Values:

• 0: Disabled
• 1: Flaps channel
• 2: Aux1

Reboot	minValue	maxValue	increment	default	unit
				0

FW_USE_AIRSPD (INT32)

Use airspeed for control.

If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

FW_YR_D (FLOAT)

Yaw rate derivative gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.0	%/rad/s

FW_YR_FF (FLOAT)

Yaw rate feed forward.

Direct feed forward from rate setpoint to control surface output

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.05	0.3	%/rad/s

FW_YR_I (FLOAT)

Yaw rate integrator gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.5	0.1	%/rad

FW_YR_IMAX (FLOAT)

Yaw rate integrator limit.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.05	0.2

FW_YR_P (FLOAT)

Yaw rate proportional gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.005	0.05	%/rad/s

FW TECS

FW_GND_SPD_MIN (FLOAT)

Minimum groundspeed.

The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.

Reboot	minValue	maxValue	increment	default	unit
	0.0	40	0.5	5.0	m/s

FW_P_LIM_MAX (FLOAT)

Maximum pitch angle setpoint.

Applies in any altitude controlled flight mode.

Reboot	minValue	maxValue	increment	default	unit
	0.0	60.0	0.5	30.0	deg

FW_P_LIM_MIN (FLOAT)

Minimum pitch angle setpoint.

Applies in any altitude controlled flight mode.

Reboot	minValue	maxValue	increment	default	unit
	-60.0	0.0	0.5	-30.0	deg

FW_THR_IDLE (FLOAT)

Idle throttle.

This is the minimum throttle while on the ground ("landed") in auto modes.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.4	0.01	0.0	norm

FW_THR_MAX (FLOAT)

Throttle limit max.

Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0	norm

FW_THR_MIN (FLOAT)

Throttle limit min.

Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.0	norm

FW_THR_SLEW_MAX (FLOAT)

Throttle max slew rate.

Maximum slew rate for the commanded throttle

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.0

FW_TKO_AIRSPD (FLOAT)

Takeoff Airspeed.

The calibrated airspeed setpoint during the takeoff climbout. If set <= 0, FW_AIRSPD_MIN will be set by default.

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

FW_T_ALT_TC (FLOAT)

Altitude error time constant.

Reboot	minValue	maxValue	increment	default	unit
	2.0		0.5	5.0

FW_T_CLMB_R_SP (FLOAT)

Default target climbrate.

In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.5	15	0.01	3.0	m/s

FW_T_F_ALT_ERR (FLOAT)

Fast descend: minimum altitude error.

Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.

Reboot	minValue	maxValue	increment	default	unit
	-1.0			-1.0

FW_T_HRATE_FF (FLOAT)

Height rate feed forward.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.05	0.3

FW_T_I_GAIN_PIT (FLOAT)

Integrator gain pitch.

Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.05	0.1

FW_T_PTCH_DAMP (FLOAT)

Pitch damping gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.1	0.1

FW_T_RLL2THR (FLOAT)

Roll -> Throttle feedforward.

Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.

Reboot	minValue	maxValue	increment	default	unit
	0.0	20.0	0.5	15.0

FW_T_SEB_R_FF (FLOAT)

Specific total energy balance rate feedforward gain.

Reboot	minValue	maxValue	increment	default	unit
	0.5	3	0.01	1.0

FW_T_SINK_MAX (FLOAT)

Maximum descent rate.

Reboot	minValue	maxValue	increment	default	unit
	1.0	15.0	0.5	5.0	m/s

FW_T_SINK_R_SP (FLOAT)

Default target sinkrate.

In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.

Reboot	minValue	maxValue	increment	default	unit
	0.5	15	0.01	2.0	m/s

FW_T_SPDWEIGHT (FLOAT)

Speed <--> Altitude weight.

Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -> control height only 2 -> control speed only (gliders)

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	1.0	1.0

FW_T_SPD_DEV_STD (FLOAT)

Airspeed rate measurement standard deviation.

For the airspeed filter in TECS.

Reboot	minValue	maxValue	increment	default	unit
	0.01	10.0	0.1	0.2	m/s^2

FW_T_SPD_PRC_STD (FLOAT)

Process noise standard deviation for the airspeed rate.

This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.

Reboot	minValue	maxValue	increment	default	unit
	0.01	10.0	0.1	0.2	m/s^2

FW_T_SPD_STD (FLOAT)

Airspeed measurement standard deviation.

For the airspeed filter in TECS.

Reboot	minValue	maxValue	increment	default	unit
	0.01	10.0	0.1	0.07	m/s

FW_T_STE_R_TC (FLOAT)

Specific total energy rate first order filter time constant.

This filter is applied to the specific total energy rate used for throttle damping.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2	0.01	0.4

FW_T_TAS_TC (FLOAT)

True airspeed error time constant.

Reboot	minValue	maxValue	increment	default	unit
	2.0		0.5	5.0

FW_T_THR_DAMPING (FLOAT)

Throttle damping factor.

This is the damping gain for the throttle demand loop.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.05

FW_T_THR_INTEG (FLOAT)

Integrator gain throttle.

Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.005	0.02

FW_T_THR_LOW_HGT (FLOAT)

Low-height threshold for tighter altitude tracking.

Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable.

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

FW_T_VERT_ACC (FLOAT)

Maximum vertical acceleration.

This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.

Reboot	minValue	maxValue	increment	default	unit
	1.0	10.0	0.5	7.0	m/s^2

FW_WIND_ARSP_SC (FLOAT)

Wind-based airspeed scaling factor.

Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.

Reboot	minValue	maxValue	increment	default	unit
	0		0.01	0.

Failure Detector

FD_ACT_EN (INT32)

Enable Actuator Failure check.

If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

FD_ACT_MOT_C2T (FLOAT)

Motor Failure Current/Throttle Threshold.

Motor failure triggers only below this current value

Reboot	minValue	maxValue	increment	default	unit
	0.0	50.0	1	2.0	A/%

FD_ACT_MOT_THR (FLOAT)

Motor Failure Throttle Threshold.

Motor failure triggers only above this throttle value.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.2	norm

FD_ACT_MOT_TOUT (INT32)

Motor Failure Time Threshold.

Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.

Reboot	minValue	maxValue	increment	default	unit
	10	10000	100	100	ms

FD_ESCS_EN (INT32)

Enable checks on ESCs that report their arming state.

If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

FD_EXT_ATS_EN (INT32)

Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).

Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

FD_EXT_ATS_TRIG (INT32)

The PWM threshold from external automatic trigger system for engaging failsafe.

External ATS is required by ASTM F3322-18.

Reboot	minValue	maxValue	increment	default	unit
				1900	us

FD_FAIL_P (INT32)

FailureDetector Max Pitch.

Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check

Reboot	minValue	maxValue	increment	default	unit
	0	180		60	deg

FD_FAIL_P_TTRI (FLOAT)

Pitch failure trigger time.

Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.

Reboot	minValue	maxValue	increment	default	unit
	0.02	5		0.3	s

FD_FAIL_R (INT32)

FailureDetector Max Roll.

Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check

Reboot	minValue	maxValue	increment	default	unit
	0	180		60	deg

FD_FAIL_R_TTRI (FLOAT)

Roll failure trigger time.

Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.

Reboot	minValue	maxValue	increment	default	unit
	0.02	5		0.3	s

FD_IMB_PROP_THR (INT32)

Imbalanced propeller check threshold.

Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.

Reboot	minValue	maxValue	increment	default	unit
	0	1000	1	30

Flight Task Orbit

MC_ORBIT_RAD_MAX (FLOAT)

Maximum radius of orbit.

Reboot	minValue	maxValue	increment	default	unit
	1.0	10000.0	0.5	1000.0	m

MC_ORBIT_YAW_MOD (INT32)

Yaw behaviour during orbit flight.

Values:

• 0: Front to Circle Center
• 1: Hold Initial Heading
• 2: Uncontrolled
• 3: Hold Front Tangent to Circle
• 4: RC Controlled

Reboot	minValue	maxValue	increment	default	unit
				0

Follow target

FLW_TGT_ALT_M (INT32)

Altitude control mode.

Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.

Values:

• 0: 2D Tracking: Maintain constant altitude relative to home and track XY position only
• 1: 2D + Terrain: Maintain constant altitude relative to terrain below and track XY position
• 2: 3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)

Reboot	minValue	maxValue	increment	default	unit
				0

FLW_TGT_DST (FLOAT)

Distance to follow target from.

The distance in meters to follow the target at

Reboot	minValue	maxValue	increment	default	unit
	1.0			8.0	m

FLW_TGT_FA (FLOAT)

Follow Angle setting in degrees.

Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		180.0

FLW_TGT_HT (FLOAT)

Follow target height.

Following height above the target

Reboot	minValue	maxValue	increment	default	unit
	8.0			8.0	m

FLW_TGT_MAX_VEL (FLOAT)

Maximum tangential velocity setting for generating the follow orbit trajectory.

This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.

Reboot	minValue	maxValue	increment	default	unit
	0.0	20.0		5.0

FLW_TGT_RS (FLOAT)

Responsiveness to target movement in Target Estimator.

lower values increase the responsiveness to changing position, but also ignore less noise

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0		0.1

GPS

GPS_1_CONFIG (INT32)

Serial Configuration for Main GPS.

Configure on which serial port to run Main GPS.

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
✓				201

GPS_1_GNSS (INT32)

GNSS Systems for Primary GPS (integer bitmask).

This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC

Bitmask:

• 0: GPS (with QZSS)
• 1: SBAS
• 2: Galileo
• 3: BeiDou
• 4: GLONASS
• 5: NAVIC

Reboot	minValue	maxValue	increment	default	unit
✓	0	63		0

GPS_1_PROTOCOL (INT32)

Protocol for Main GPS.

Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

Values:

• 0: Auto detect
• 1: u-blox
• 2: MTK
• 3: Ashtech / Trimble
• 4: Emlid Reach
• 5: Femtomes
• 6: NMEA (generic)

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		1

GPS_2_CONFIG (INT32)

Serial Configuration for Secondary GPS.

Configure on which serial port to run Secondary GPS.

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

GPS_2_GNSS (INT32)

GNSS Systems for Secondary GPS (integer bitmask).

This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC

Bitmask:

• 0: GPS (with QZSS)
• 1: SBAS
• 2: Galileo
• 3: BeiDou
• 4: GLONASS
• 5: NAVIC

Reboot	minValue	maxValue	increment	default	unit
✓	0	63		0

GPS_2_PROTOCOL (INT32)

Protocol for Secondary GPS.

Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.

Values:

• 0: Auto detect
• 1: u-blox
• 2: MTK
• 3: Ashtech / Trimble
• 4: Emlid Reach
• 5: Femtomes
• 6: NMEA (generic)

Reboot	minValue	maxValue	increment	default	unit
✓	0	6		1

GPS_DUMP_COMM (INT32)

Log GPS communication data.

If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.

Values:

• 0: Disable
• 1: Full communication
• 2: RTCM output (PPK)

Reboot	minValue	maxValue	increment	default	unit
	0	2		0

GPS_SAT_INFO (INT32)

Enable sat info (if available).

Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

GPS_UBX_BAUD2 (INT32)

u-blox F9P UART2 Baudrate.

Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.

Reboot	minValue	maxValue	increment	default	unit
✓	0			230400	B/s

GPS_UBX_CFG_INTF (INT32)

u-blox protocol configuration for interfaces.

Bitmask:

• 0: Enable I2C input protocol UBX
• 1: Enable I2C input protocol NMEA
• 2: Enable I2C input protocol RTCM3X
• 3: Enable I2C output protocol UBX
• 4: Enable I2C output protocol NMEA
• 5: Enable I2C output protocol RTCM3X

Reboot	minValue	maxValue	increment	default	unit
✓	0	32		0

GPS_UBX_DYNMODEL (INT32)

u-blox GPS dynamic platform model.

u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.

Values:

• 2: stationary
• 4: automotive
• 6: airborne with <1g acceleration
• 7: airborne with <2g acceleration
• 8: airborne with <4g acceleration

Reboot	minValue	maxValue	increment	default	unit
✓	0	9		7

GPS_UBX_MODE (INT32)

u-blox GPS Mode.

Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.

Values:

• 0: Default
• 1: Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)
• 2: Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
• 3: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
• 4: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
• 5: Rover with Static Base on UART2 (similar to Default, except coming in on UART2)

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

GPS_YAW_OFFSET (FLOAT)

Heading/Yaw offset for dual antenna GPS.

Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).

Reboot	minValue	maxValue	increment	default	unit
✓	0	360		0.	deg

PPS_CAP_ENABLE (INT32)

PPS Capture Enable.

Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

Geofence

GF_ACTION (INT32)

Geofence violation action.

Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.

Values:

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

Reboot	minValue	maxValue	increment	default	unit
	0	5		2

GF_MAX_HOR_DIST (FLOAT)

Max horizontal distance from Home.

Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.

Reboot	minValue	maxValue	increment	default	unit
	0	10000	1	0.0	m

GF_MAX_VER_DIST (FLOAT)

Max vertical distance from Home.

Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.

Reboot	minValue	maxValue	increment	default	unit
	0	10000	1	0.0	m

GF_PREDICT (INT32)

[EXPERIMENTAL] Use Pre-emptive geofence triggering.

WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

GF_SOURCE (INT32)

Geofence source.

Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS

Values:

• 0: GPOS
• 1: GPS

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

Geometry

CA_AIRFRAME (INT32)

Airframe selection.

Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.

Values:

• 0: Multirotor
• 1: Fixed-wing
• 2: Standard VTOL
• 3: Tiltrotor VTOL
• 4: Tailsitter VTOL
• 5: Rover (Ackermann)
• 6: Rover (Differential)
• 7: Motors (6DOF)
• 8: Multirotor with Tilt
• 9: Custom
• 10: Helicopter (tail ESC)
• 11: Helicopter (tail Servo)
• 12: Helicopter (Coaxial)
• 13: Rover (Mecanum)

Reboot	minValue	maxValue	increment	default	unit
				0

CA_FAILURE_MODE (INT32)

Motor failure handling mode.

This is used to specify how to handle motor failures reported by failure detector.

Values:

• 0: Ignore
• 1: Remove first failed motor from effectiveness

Reboot	minValue	maxValue	increment	default	unit
				0

CA_HELI_PITCH_C0 (FLOAT)

Collective pitch curve at position 0.

Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	-0.05

CA_HELI_PITCH_C1 (FLOAT)

Collective pitch curve at position 1.

Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	0.0725

CA_HELI_PITCH_C2 (FLOAT)

Collective pitch curve at position 2.

Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	0.2

CA_HELI_PITCH_C3 (FLOAT)

Collective pitch curve at position 3.

Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	0.325

CA_HELI_PITCH_C4 (FLOAT)

Collective pitch curve at position 4.

Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	0.45

CA_HELI_THR_C0 (FLOAT)

Throttle curve at position 0.

Defines the output throttle at the interval position 0.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.1	1

CA_HELI_THR_C1 (FLOAT)

Throttle curve at position 1.

Defines the output throttle at the interval position 1.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.1	1

CA_HELI_THR_C2 (FLOAT)

Throttle curve at position 2.

Defines the output throttle at the interval position 2.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.1	1

CA_HELI_THR_C3 (FLOAT)

Throttle curve at position 3.

Defines the output throttle at the interval position 3.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.1	1

CA_HELI_THR_C4 (FLOAT)

Throttle curve at position 4.

Defines the output throttle at the interval position 4.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.1	1

CA_HELI_YAW_CCW (INT32)

Main rotor turns counter-clockwise.

Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

CA_HELI_YAW_CP_O (FLOAT)

Offset for yaw compensation based on collective pitch.

This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0° collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)

Reboot	minValue	maxValue	increment	default	unit
	-2	2	0.1	0.0

CA_HELI_YAW_CP_S (FLOAT)

Scale for yaw compensation based on collective pitch.

This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)

Reboot	minValue	maxValue	increment	default	unit
	-2	2	0.1	0.0

CA_HELI_YAW_TH_S (FLOAT)

Scale for yaw compensation based on throttle.

This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle

Reboot	minValue	maxValue	increment	default	unit
	-2	2	0.1	0.0

CA_METHOD (INT32)

Control allocation method.

Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).

Values:

• 0: Pseudo-inverse with output clipping
• 1: Pseudo-inverse with sequential desaturation technique
• 2: Automatic

Reboot	minValue	maxValue	increment	default	unit
				2

CA_R0_SLEW (FLOAT)

Motor 0 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R10_SLEW (FLOAT)

Motor 10 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R11_SLEW (FLOAT)

Motor 11 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R1_SLEW (FLOAT)

Motor 1 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R2_SLEW (FLOAT)

Motor 2 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R3_SLEW (FLOAT)

Motor 3 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R4_SLEW (FLOAT)

Motor 4 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R5_SLEW (FLOAT)

Motor 5 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R6_SLEW (FLOAT)

Motor 6 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R7_SLEW (FLOAT)

Motor 7 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R8_SLEW (FLOAT)

Motor 8 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_R9_SLEW (FLOAT)

Motor 9 slew rate limit.

Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.01	0.0

CA_ROTOR0_AX (FLOAT)

Axis of rotor 0 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR0_AY (FLOAT)

Axis of rotor 0 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR0_AZ (FLOAT)

Axis of rotor 0 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR0_CT (FLOAT)

Thrust coefficient of rotor 0.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR0_KM (FLOAT)

Moment coefficient of rotor 0.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR0_PX (FLOAT)

Position of rotor 0 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR0_PY (FLOAT)

Position of rotor 0 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR0_PZ (FLOAT)

Position of rotor 0 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR0_TILT (INT32)

Rotor 0 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR10_AX (FLOAT)

Axis of rotor 10 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR10_AY (FLOAT)

Axis of rotor 10 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR10_AZ (FLOAT)

Axis of rotor 10 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR10_CT (FLOAT)

Thrust coefficient of rotor 10.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR10_KM (FLOAT)

Moment coefficient of rotor 10.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR10_PX (FLOAT)

Position of rotor 10 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR10_PY (FLOAT)

Position of rotor 10 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR10_PZ (FLOAT)

Position of rotor 10 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR10_TILT (INT32)

Rotor 10 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR11_AX (FLOAT)

Axis of rotor 11 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR11_AY (FLOAT)

Axis of rotor 11 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR11_AZ (FLOAT)

Axis of rotor 11 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR11_CT (FLOAT)

Thrust coefficient of rotor 11.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR11_KM (FLOAT)

Moment coefficient of rotor 11.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR11_PX (FLOAT)

Position of rotor 11 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR11_PY (FLOAT)

Position of rotor 11 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR11_PZ (FLOAT)

Position of rotor 11 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR11_TILT (INT32)

Rotor 11 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR1_AX (FLOAT)

Axis of rotor 1 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR1_AY (FLOAT)

Axis of rotor 1 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR1_AZ (FLOAT)

Axis of rotor 1 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR1_CT (FLOAT)

Thrust coefficient of rotor 1.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR1_KM (FLOAT)

Moment coefficient of rotor 1.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR1_PX (FLOAT)

Position of rotor 1 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR1_PY (FLOAT)

Position of rotor 1 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR1_PZ (FLOAT)

Position of rotor 1 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR1_TILT (INT32)

Rotor 1 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR2_AX (FLOAT)

Axis of rotor 2 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR2_AY (FLOAT)

Axis of rotor 2 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR2_AZ (FLOAT)

Axis of rotor 2 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR2_CT (FLOAT)

Thrust coefficient of rotor 2.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR2_KM (FLOAT)

Moment coefficient of rotor 2.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR2_PX (FLOAT)

Position of rotor 2 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR2_PY (FLOAT)

Position of rotor 2 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR2_PZ (FLOAT)

Position of rotor 2 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR2_TILT (INT32)

Rotor 2 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR3_AX (FLOAT)

Axis of rotor 3 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR3_AY (FLOAT)

Axis of rotor 3 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR3_AZ (FLOAT)

Axis of rotor 3 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR3_CT (FLOAT)

Thrust coefficient of rotor 3.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR3_KM (FLOAT)

Moment coefficient of rotor 3.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR3_PX (FLOAT)

Position of rotor 3 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR3_PY (FLOAT)

Position of rotor 3 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR3_PZ (FLOAT)

Position of rotor 3 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR3_TILT (INT32)

Rotor 3 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR4_AX (FLOAT)

Axis of rotor 4 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR4_AY (FLOAT)

Axis of rotor 4 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR4_AZ (FLOAT)

Axis of rotor 4 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR4_CT (FLOAT)

Thrust coefficient of rotor 4.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR4_KM (FLOAT)

Moment coefficient of rotor 4.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR4_PX (FLOAT)

Position of rotor 4 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR4_PY (FLOAT)

Position of rotor 4 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR4_PZ (FLOAT)

Position of rotor 4 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR4_TILT (INT32)

Rotor 4 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR5_AX (FLOAT)

Axis of rotor 5 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR5_AY (FLOAT)

Axis of rotor 5 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR5_AZ (FLOAT)

Axis of rotor 5 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR5_CT (FLOAT)

Thrust coefficient of rotor 5.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR5_KM (FLOAT)

Moment coefficient of rotor 5.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR5_PX (FLOAT)

Position of rotor 5 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR5_PY (FLOAT)

Position of rotor 5 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR5_PZ (FLOAT)

Position of rotor 5 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR5_TILT (INT32)

Rotor 5 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR6_AX (FLOAT)

Axis of rotor 6 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR6_AY (FLOAT)

Axis of rotor 6 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR6_AZ (FLOAT)

Axis of rotor 6 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR6_CT (FLOAT)

Thrust coefficient of rotor 6.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR6_KM (FLOAT)

Moment coefficient of rotor 6.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR6_PX (FLOAT)

Position of rotor 6 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR6_PY (FLOAT)

Position of rotor 6 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR6_PZ (FLOAT)

Position of rotor 6 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR6_TILT (INT32)

Rotor 6 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR7_AX (FLOAT)

Axis of rotor 7 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR7_AY (FLOAT)

Axis of rotor 7 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR7_AZ (FLOAT)

Axis of rotor 7 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR7_CT (FLOAT)

Thrust coefficient of rotor 7.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR7_KM (FLOAT)

Moment coefficient of rotor 7.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR7_PX (FLOAT)

Position of rotor 7 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR7_PY (FLOAT)

Position of rotor 7 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR7_PZ (FLOAT)

Position of rotor 7 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR7_TILT (INT32)

Rotor 7 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR8_AX (FLOAT)

Axis of rotor 8 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR8_AY (FLOAT)

Axis of rotor 8 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR8_AZ (FLOAT)

Axis of rotor 8 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR8_CT (FLOAT)

Thrust coefficient of rotor 8.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR8_KM (FLOAT)

Moment coefficient of rotor 8.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR8_PX (FLOAT)

Position of rotor 8 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR8_PY (FLOAT)

Position of rotor 8 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR8_PZ (FLOAT)

Position of rotor 8 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR8_TILT (INT32)

Rotor 8 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR9_AX (FLOAT)

Axis of rotor 9 thrust vector, X body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR9_AY (FLOAT)

Axis of rotor 9 thrust vector, Y body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0

CA_ROTOR9_AZ (FLOAT)

Axis of rotor 9 thrust vector, Z body axis component.

Only the direction is considered (the vector is normalized).

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	-1.0

CA_ROTOR9_CT (FLOAT)

Thrust coefficient of rotor 9.

The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	6.5

CA_ROTOR9_KM (FLOAT)

Moment coefficient of rotor 9.

The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.01	0.05

CA_ROTOR9_PX (FLOAT)

Position of rotor 9 along X body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR9_PY (FLOAT)

Position of rotor 9 along Y body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR9_PZ (FLOAT)

Position of rotor 9 along Z body axis relative to center of gravity.

Reboot	minValue	maxValue	increment	default	unit
	-100	100	0.1	0.0	m

CA_ROTOR9_TILT (INT32)

Rotor 9 tilt assignment.

If not set to None, this motor is tilted by the configured tilt servo.

Values:

• 0: None
• 1: Tilt 1
• 2: Tilt 2
• 3: Tilt 3
• 4: Tilt 4

Reboot	minValue	maxValue	increment	default	unit
				0

CA_ROTOR_COUNT (INT32)

Total number of rotors.

Values:

• 0: 0
• 1: 1
• 2: 2
• 3: 3
• 4: 4
• 5: 5
• 6: 6
• 7: 7
• 8: 8
• 9: 9
• 10: 10
• 11: 11
• 12: 12

Reboot	minValue	maxValue	increment	default	unit
				0

CA_R_REV (INT32)

Bidirectional/Reversible motors.

Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.

Bitmask:

• 0: Motor 1
• 1: Motor 2
• 2: Motor 3
• 3: Motor 4
• 4: Motor 5
• 5: Motor 6
• 6: Motor 7
• 7: Motor 8
• 8: Motor 9
• 9: Motor 10
• 10: Motor 11
• 11: Motor 12

Reboot	minValue	maxValue	increment	default	unit
	0	4095		0

CA_SP0_ANG0 (FLOAT)

Angle for swash plate servo 0.

The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).

Reboot	minValue	maxValue	increment	default	unit
	0	360	10	0	deg

CA_SP0_ANG1 (FLOAT)

Angle for swash plate servo 1.

The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).

Reboot	minValue	maxValue	increment	default	unit
	0	360	10	140	deg

CA_SP0_ANG2 (FLOAT)

Angle for swash plate servo 2.

The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).

Reboot	minValue	maxValue	increment	default	unit
	0	360	10	220	deg

CA_SP0_ANG3 (FLOAT)

Angle for swash plate servo 3.

The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).

Reboot	minValue	maxValue	increment	default	unit
	0	360	10	0	deg

CA_SP0_ARM_L0 (FLOAT)

Arm length for swash plate servo 0.

This is relative to the other arm lengths.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.1	1.0

CA_SP0_ARM_L1 (FLOAT)

Arm length for swash plate servo 1.

This is relative to the other arm lengths.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.1	1.0

CA_SP0_ARM_L2 (FLOAT)

Arm length for swash plate servo 2.

This is relative to the other arm lengths.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.1	1.0

CA_SP0_ARM_L3 (FLOAT)

Arm length for swash plate servo 3.

This is relative to the other arm lengths.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.1	1.0

CA_SP0_COUNT (INT32)

Number of swash plates servos.

Values:

• 2: 2
• 3: 3
• 4: 4

Reboot	minValue	maxValue	increment	default	unit
				3

CA_SV0_SLEW (FLOAT)

Servo 0 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV1_SLEW (FLOAT)

Servo 1 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV2_SLEW (FLOAT)

Servo 2 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV3_SLEW (FLOAT)

Servo 3 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV4_SLEW (FLOAT)

Servo 4 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV5_SLEW (FLOAT)

Servo 5 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV6_SLEW (FLOAT)

Servo 6 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV7_SLEW (FLOAT)

Servo 7 slew rate limit.

Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.

Reboot	minValue	maxValue	increment	default	unit
	0	10	0.05	0.0

CA_SV_CS0_FLAP (FLOAT)

Control Surface 0 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS0_SPOIL (FLOAT)

Control Surface 0 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS0_TRIM (FLOAT)

Control Surface 0 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS0_TRQ_P (FLOAT)

Control Surface 0 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS0_TRQ_R (FLOAT)

Control Surface 0 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS0_TRQ_Y (FLOAT)

Control Surface 0 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS0_TYPE (INT32)

Control Surface 0 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS1_FLAP (FLOAT)

Control Surface 1 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS1_SPOIL (FLOAT)

Control Surface 1 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS1_TRIM (FLOAT)

Control Surface 1 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS1_TRQ_P (FLOAT)

Control Surface 1 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS1_TRQ_R (FLOAT)

Control Surface 1 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS1_TRQ_Y (FLOAT)

Control Surface 1 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS1_TYPE (INT32)

Control Surface 1 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS2_FLAP (FLOAT)

Control Surface 2 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS2_SPOIL (FLOAT)

Control Surface 2 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS2_TRIM (FLOAT)

Control Surface 2 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS2_TRQ_P (FLOAT)

Control Surface 2 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS2_TRQ_R (FLOAT)

Control Surface 2 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS2_TRQ_Y (FLOAT)

Control Surface 2 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS2_TYPE (INT32)

Control Surface 2 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS3_FLAP (FLOAT)

Control Surface 3 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS3_SPOIL (FLOAT)

Control Surface 3 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS3_TRIM (FLOAT)

Control Surface 3 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS3_TRQ_P (FLOAT)

Control Surface 3 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS3_TRQ_R (FLOAT)

Control Surface 3 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS3_TRQ_Y (FLOAT)

Control Surface 3 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS3_TYPE (INT32)

Control Surface 3 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS4_FLAP (FLOAT)

Control Surface 4 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS4_SPOIL (FLOAT)

Control Surface 4 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS4_TRIM (FLOAT)

Control Surface 4 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS4_TRQ_P (FLOAT)

Control Surface 4 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS4_TRQ_R (FLOAT)

Control Surface 4 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS4_TRQ_Y (FLOAT)

Control Surface 4 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS4_TYPE (INT32)

Control Surface 4 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS5_FLAP (FLOAT)

Control Surface 5 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS5_SPOIL (FLOAT)

Control Surface 5 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS5_TRIM (FLOAT)

Control Surface 5 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS5_TRQ_P (FLOAT)

Control Surface 5 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS5_TRQ_R (FLOAT)

Control Surface 5 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS5_TRQ_Y (FLOAT)

Control Surface 5 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS5_TYPE (INT32)

Control Surface 5 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS6_FLAP (FLOAT)

Control Surface 6 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS6_SPOIL (FLOAT)

Control Surface 6 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS6_TRIM (FLOAT)

Control Surface 6 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS6_TRQ_P (FLOAT)

Control Surface 6 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS6_TRQ_R (FLOAT)

Control Surface 6 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS6_TRQ_Y (FLOAT)

Control Surface 6 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS6_TYPE (INT32)

Control Surface 6 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS7_FLAP (FLOAT)

Control Surface 7 configuration as flap.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS7_SPOIL (FLOAT)

Control Surface 7 configuration as spoiler.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0

CA_SV_CS7_TRIM (FLOAT)

Control Surface 7 trim.

Can be used to add an offset to the servo control.

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		0.0

CA_SV_CS7_TRQ_P (FLOAT)

Control Surface 7 pitch torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS7_TRQ_R (FLOAT)

Control Surface 7 roll torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS7_TRQ_Y (FLOAT)

Control Surface 7 yaw torque scaling.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CA_SV_CS7_TYPE (INT32)

Control Surface 7 type.

Values:

• 0: (Not set)
• 1: Left Aileron
• 2: Right Aileron
• 3: Elevator
• 4: Rudder
• 5: Left Elevon
• 6: Right Elevon
• 7: Left V-Tail
• 8: Right V-Tail
• 9: Left Flap
• 10: Right Flap
• 11: Airbrake
• 12: Custom
• 13: Left A-tail
• 14: Right A-tail
• 15: Single Channel Aileron
• 16: Steering Wheel
• 17: Left Spoiler
• 18: Right Spoiler

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_CS_COUNT (INT32)

Total number of Control Surfaces.

Values:

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

Reboot	minValue	maxValue	increment	default	unit
				0

CA_SV_TL0_CT (INT32)

Tilt 0 is used for control.

Define if this servo is used for additional control.

Values:

• 0: None
• 1: Yaw
• 2: Pitch
• 3: Yaw and Pitch

Reboot	minValue	maxValue	increment	default	unit
				1

CA_SV_TL0_MAXA (FLOAT)

Tilt Servo 0 Tilt Angle at Maximum.

Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		90.0	deg

CA_SV_TL0_MINA (FLOAT)

Tilt Servo 0 Tilt Angle at Minimum.

Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		0.0	deg

CA_SV_TL0_TD (INT32)

Tilt Servo 0 Tilt Direction.

Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.

Values:

• 0: Towards Front
• 90: Towards Right

Reboot	minValue	maxValue	increment	default	unit
	0	359		0

CA_SV_TL1_CT (INT32)

Tilt 1 is used for control.

Define if this servo is used for additional control.

Values:

• 0: None
• 1: Yaw
• 2: Pitch
• 3: Yaw and Pitch

Reboot	minValue	maxValue	increment	default	unit
				1

CA_SV_TL1_MAXA (FLOAT)

Tilt Servo 1 Tilt Angle at Maximum.

Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		90.0	deg

CA_SV_TL1_MINA (FLOAT)

Tilt Servo 1 Tilt Angle at Minimum.

Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		0.0	deg

CA_SV_TL1_TD (INT32)

Tilt Servo 1 Tilt Direction.

Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.

Values:

• 0: Towards Front
• 90: Towards Right

Reboot	minValue	maxValue	increment	default	unit
	0	359		0

CA_SV_TL2_CT (INT32)

Tilt 2 is used for control.

Define if this servo is used for additional control.

Values:

• 0: None
• 1: Yaw
• 2: Pitch
• 3: Yaw and Pitch

Reboot	minValue	maxValue	increment	default	unit
				1

CA_SV_TL2_MAXA (FLOAT)

Tilt Servo 2 Tilt Angle at Maximum.

Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		90.0	deg

CA_SV_TL2_MINA (FLOAT)

Tilt Servo 2 Tilt Angle at Minimum.

Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		0.0	deg

CA_SV_TL2_TD (INT32)

Tilt Servo 2 Tilt Direction.

Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.

Values:

• 0: Towards Front
• 90: Towards Right

Reboot	minValue	maxValue	increment	default	unit
	0	359		0

CA_SV_TL3_CT (INT32)

Tilt 3 is used for control.

Define if this servo is used for additional control.

Values:

• 0: None
• 1: Yaw
• 2: Pitch
• 3: Yaw and Pitch

Reboot	minValue	maxValue	increment	default	unit
				1

CA_SV_TL3_MAXA (FLOAT)

Tilt Servo 3 Tilt Angle at Maximum.

Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		90.0	deg

CA_SV_TL3_MINA (FLOAT)

Tilt Servo 3 Tilt Angle at Minimum.

Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		0.0	deg

CA_SV_TL3_TD (INT32)

Tilt Servo 3 Tilt Direction.

Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.

Values:

• 0: Towards Front
• 90: Towards Right

Reboot	minValue	maxValue	increment	default	unit
	0	359		0

CA_SV_TL_COUNT (INT32)

Total number of Tilt Servos.

Values:

• 0: 0
• 1: 1
• 2: 2
• 3: 3
• 4: 4

Reboot	minValue	maxValue	increment	default	unit
				0

SIM_GZ_SV_MAXA1 (FLOAT)

Servo 1 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA2 (FLOAT)

Servo 2 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA3 (FLOAT)

Servo 3 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA4 (FLOAT)

Servo 4 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA5 (FLOAT)

Servo 5 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA6 (FLOAT)

Servo 6 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA7 (FLOAT)

Servo 7 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MAXA8 (FLOAT)

Servo 8 Angle at Maximum.

Defines the angle when the servo is at the maximum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		45.0	deg

SIM_GZ_SV_MINA1 (FLOAT)

Servo 1 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA2 (FLOAT)

Servo 2 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA3 (FLOAT)

Servo 3 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA4 (FLOAT)

Servo 4 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA5 (FLOAT)

Servo 5 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA6 (FLOAT)

Servo 6 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA7 (FLOAT)

Servo 7 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

SIM_GZ_SV_MINA8 (FLOAT)

Servo 8 Angle at Minimum.

Defines the angle when the servo is at the minimum. Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.

Reboot	minValue	maxValue	increment	default	unit
	-180.0	180.0		-45.0	deg

Hover Thrust Estimator

HTE_ACC_GATE (FLOAT)

Gate size for acceleration fusion.

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

Reboot	minValue	maxValue	increment	default	unit
	1.0	10.0		3.0	SD

HTE_HT_ERR_INIT (FLOAT)

1-sigma initial hover thrust uncertainty.

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

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0		0.1	normalized_thrust

HTE_HT_NOISE (FLOAT)

Hover thrust process noise.

Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.

Reboot	minValue	maxValue	increment	default	unit
	0.0001	1.0		0.0036	normalized_thrust/s

HTE_THR_RANGE (FLOAT)

Max deviation from MPC_THR_HOVER.

Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).

Reboot	minValue	maxValue	increment	default	unit
	0.01	0.4		0.2	normalized_thrust

HTE_VXY_THR (FLOAT)

Horizontal velocity threshold for sensitivity reduction.

Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.

Reboot	minValue	maxValue	increment	default	unit
	1.0	20.0		10.0	m/s

HTE_VZ_THR (FLOAT)

Vertical velocity threshold for sensitivity reduction.

Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.

Reboot	minValue	maxValue	increment	default	unit
	1.0	10.0		2.0	m/s

Iridium SBD

ISBD_CONFIG (INT32)

Serial Configuration for Iridium (with MAVLink).

Configure on which serial port to run Iridium (with MAVLink).

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

ISBD_READ_INT (INT32)

Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call.

Reboot	minValue	maxValue	increment	default	unit
	0	5000		0	s

ISBD_SBD_TIMEOUT (INT32)

Iridium SBD session timeout.

Reboot	minValue	maxValue	increment	default	unit
	0	300		60	s

ISBD_STACK_TIME (INT32)

Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message.

Value 0 turns the functionality off

Reboot	minValue	maxValue	increment	default	unit
	0	500		0	ms

Land Detector

LNDFW_AIRSPD_MAX (FLOAT)

Fixed-wing land detector: Max airspeed.

Maximum airspeed allowed in the landed state

Reboot	minValue	maxValue	increment	default	unit
	2	20		6.00	m/s

LNDFW_TRIG_TIME (FLOAT)

Fixed-wing land detection trigger time.

Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.

Reboot	minValue	maxValue	increment	default	unit
✓	0.1			2.	s

LNDFW_VEL_XY_MAX (FLOAT)

Fixed-wing land detector: Max horizontal velocity threshold.

Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).

Reboot	minValue	maxValue	increment	default	unit
	0.5	10		5.0	m/s

LNDFW_VEL_Z_MAX (FLOAT)

Fixed-wing land detector: Max vertiacal velocity threshold.

Maximum vertical velocity allowed in the landed state.

Reboot	minValue	maxValue	increment	default	unit
	0.1	20		1.0	m/s

LNDFW_XYACC_MAX (FLOAT)

Fixed-wing land detector: Max horizontal acceleration.

Maximum horizontal (x,y body axes) acceleration allowed in the landed state

Reboot	minValue	maxValue	increment	default	unit
	2	15		8.0	m/s^2

LNDMC_ALT_GND (FLOAT)

Ground effect altitude for multicopters.

The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.

Reboot	minValue	maxValue	increment	default	unit
	-1			2.	m

LNDMC_ROT_MAX (FLOAT)

Multicopter max rotation.

Maximum allowed angular velocity around each axis allowed in the landed state.

Reboot	minValue	maxValue	increment	default	unit
				20.0	deg/s

LNDMC_TRIG_TIME (FLOAT)

Multicopter land detection trigger time.

Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10.0		1.0	s

LNDMC_XY_VEL_MAX (FLOAT)

Multicopter max horizontal velocity.

Maximum horizontal velocity allowed in the landed state

Reboot	minValue	maxValue	increment	default	unit
				1.5	m/s

LNDMC_Z_VEL_MAX (FLOAT)

Multicopter vertical velocity threshold.

Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.

Reboot	minValue	maxValue	increment	default	unit
	0			0.25	m/s

LND_FLIGHT_T_HI (INT32)

Total flight time in microseconds.

Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

Reboot	minValue	maxValue	increment	default	unit
	0			0

LND_FLIGHT_T_LO (INT32)

Total flight time in microseconds.

Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

Reboot	minValue	maxValue	increment	default	unit
	0			0

Landing Target Estimator

LTEST_ACC_UNC (FLOAT)

Acceleration uncertainty.

Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection

Reboot	minValue	maxValue	increment	default	unit
	0.01			10.0	(m/s^2)^2

LTEST_MEAS_UNC (FLOAT)

Landing target measurement uncertainty.

Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.

Reboot	minValue	maxValue	increment	default	unit
				0.005	tan(rad)^2

LTEST_MODE (INT32)

Landing target mode.

Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.

Values:

• 0: Moving
• 1: Stationary

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

LTEST_POS_UNC_IN (FLOAT)

Initial landing target position uncertainty.

Initial variance of the relative landing target position in x and y direction

Reboot	minValue	maxValue	increment	default	unit
	0.001			0.1	m^2

LTEST_SCALE_X (FLOAT)

Scale factor for sensor measurements in sensor x axis.

Landing target x measurements are scaled by this factor before being used

Reboot	minValue	maxValue	increment	default	unit
	0.01			1.0

LTEST_SCALE_Y (FLOAT)

Scale factor for sensor measurements in sensor y axis.

Landing target y measurements are scaled by this factor before being used

Reboot	minValue	maxValue	increment	default	unit
	0.01			1.0

LTEST_SENS_POS_X (FLOAT)

X Position of IRLOCK in body frame (forward).

Reboot	minValue	maxValue	increment	default	unit
✓				0.0	m

LTEST_SENS_POS_Y (FLOAT)

Y Position of IRLOCK in body frame (right).

Reboot	minValue	maxValue	increment	default	unit
✓				0.0	m

LTEST_SENS_POS_Z (FLOAT)

Z Position of IRLOCK in body frame (downward).

Reboot	minValue	maxValue	increment	default	unit
✓				0.0	m

LTEST_SENS_ROT (INT32)

Rotation of IRLOCK sensor relative to airframe.

Default orientation of Yaw 90°

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	-1	40		2

LTEST_VEL_UNC_IN (FLOAT)

Initial landing target velocity uncertainty.

Initial variance of the relative landing target velocity in x and y directions

Reboot	minValue	maxValue	increment	default	unit
	0.001			0.1	(m/s)^2

Local Position Estimator

LPE_ACC_XY (FLOAT)

Accelerometer xy noise density.

Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.

Reboot	minValue	maxValue	increment	default	unit
	0.00001	2		0.012	m/s^2/sqrt(Hz)

LPE_ACC_Z (FLOAT)

Accelerometer z noise density.

Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)

Reboot	minValue	maxValue	increment	default	unit
	0.00001	2		0.02	m/s^2/sqrt(Hz)

LPE_BAR_Z (FLOAT)

Barometric presssure altitude z standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	100		3.0	m

LPE_EN (INT32)

Local position estimator enable (unsupported).

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

LPE_EPH_MAX (FLOAT)

Max EPH allowed for GPS initialization.

Reboot	minValue	maxValue	increment	default	unit
	1.0	5.0		3.0	m

LPE_EPV_MAX (FLOAT)

Max EPV allowed for GPS initialization.

Reboot	minValue	maxValue	increment	default	unit
	1.0	5.0		5.0	m

LPE_FAKE_ORIGIN (INT32)

Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow).

By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

LPE_FGYRO_HP (FLOAT)

Flow gyro high pass filter cut off frequency.

Reboot	minValue	maxValue	increment	default	unit
	0	2		0.001	Hz

LPE_FLW_OFF_Z (FLOAT)

Optical flow z offset from center.

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.0	m

LPE_FLW_QMIN (INT32)

Optical flow minimum quality threshold.

Reboot	minValue	maxValue	increment	default	unit
	0	255		150

LPE_FLW_R (FLOAT)

Optical flow rotation (roll/pitch) noise gain.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10.0		7.0	m/s/rad

LPE_FLW_RR (FLOAT)

Optical flow angular velocity noise gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0		7.0	m/rad

LPE_FLW_SCALE (FLOAT)

Optical flow scale.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10.0		1.3	m

LPE_FUSION (INT32)

Integer bitmask controlling data fusion.

Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)

Bitmask:

• 0: fuse GPS, requires GPS for alt. init
• 1: fuse optical flow
• 2: fuse vision position
• 3: fuse landing target
• 4: fuse land detector
• 5: pub agl as lpos down
• 6: flow gyro compensation
• 7: fuse baro

Reboot	minValue	maxValue	increment	default	unit
	0	255		145

LPE_GPS_DELAY (FLOAT)

GPS delay compensaton.

Reboot	minValue	maxValue	increment	default	unit
	0	0.4		0.29	s

LPE_GPS_VXY (FLOAT)

GPS xy velocity standard deviation.

EPV used if greater than this value.

Reboot	minValue	maxValue	increment	default	unit
	0.01	2		0.25	m/s

LPE_GPS_VZ (FLOAT)

GPS z velocity standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	2		0.25	m/s

LPE_GPS_XY (FLOAT)

Minimum GPS xy standard deviation, uses reported EPH if greater.

Reboot	minValue	maxValue	increment	default	unit
	0.01	5		1.0	m

LPE_GPS_Z (FLOAT)

Minimum GPS z standard deviation, uses reported EPV if greater.

Reboot	minValue	maxValue	increment	default	unit
	0.01	200		3.0	m

LPE_LAND_VXY (FLOAT)

Land detector xy velocity standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	10.0		0.05	m/s

LPE_LAND_Z (FLOAT)

Land detector z standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.001	10.0		0.03	m

LPE_LAT (FLOAT)

Local origin latitude for nav w/o GPS.

Reboot	minValue	maxValue	increment	default	unit
	-90	90		47.397742	deg

LPE_LDR_OFF_Z (FLOAT)

Lidar z offset from center of vehicle +down.

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.00	m

LPE_LDR_Z (FLOAT)

Lidar z standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1		0.03	m

LPE_LON (FLOAT)

Local origin longitude for nav w/o GPS.

Reboot	minValue	maxValue	increment	default	unit
	-180	180		8.545594	deg

LPE_LT_COV (FLOAT)

Minimum landing target standard covariance, uses reported covariance if greater.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10		0.0001	m^2

LPE_PN_B (FLOAT)

Accel bias propagation noise density.

Reboot	minValue	maxValue	increment	default	unit
	0	1		1e-3	m/s^3/sqrt(Hz)

LPE_PN_P (FLOAT)

Position propagation noise density.

Increase to trust measurements more. Decrease to trust model more.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.1	m/s/sqrt(Hz)

LPE_PN_T (FLOAT)

Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001).

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.001	m/s/sqrt(Hz)

LPE_PN_V (FLOAT)

Velocity propagation noise density.

Increase to trust measurements more. Decrease to trust model more.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.1	m/s^2/sqrt(Hz)

LPE_SNR_OFF_Z (FLOAT)

Sonar z offset from center of vehicle +down.

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.00	m

LPE_SNR_Z (FLOAT)

Sonar z standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1		0.05	m

LPE_T_MAX_GRADE (FLOAT)

Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg).

Used to calculate increased terrain random walk nosie due to movement.

Reboot	minValue	maxValue	increment	default	unit
	0	100		1.0	%

LPE_VIC_P (FLOAT)

Vicon position standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.0001	1		0.001	m

LPE_VIS_DELAY (FLOAT)

Vision delay compensation.

Set to zero to enable automatic compensation from measurement timestamps

Reboot	minValue	maxValue	increment	default	unit
	0	0.1		0.1	s

LPE_VIS_XY (FLOAT)

Vision xy standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1		0.1	m

LPE_VIS_Z (FLOAT)

Vision z standard deviation.

Reboot	minValue	maxValue	increment	default	unit
	0.01	100		0.5	m

LPE_VXY_PUB (FLOAT)

Required velocity xy standard deviation to publish position.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1.0		0.3	m/s

LPE_X_LP (FLOAT)

Cut frequency for state publication.

Reboot	minValue	maxValue	increment	default	unit
	5	1000		5.0	Hz

LPE_Z_PUB (FLOAT)

Required z standard deviation to publish altitude/ terrain.

Reboot	minValue	maxValue	increment	default	unit
	0.3	5.0		1.0	m

MAVLink

MAV_0_BROADCAST (INT32)

Broadcast heartbeats on local network for MAVLink instance 0.

This allows a ground control station to automatically find the drone on the local network.

Values:

• 0: Never broadcast
• 1: Always broadcast
• 2: Only multicast

Reboot	minValue	maxValue	increment	default	unit
				1

MAV_0_CONFIG (INT32)

Serial Configuration for MAVLink (instance 0).

Configure on which serial port to run MAVLink.

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
• 1000: Ethernet

Reboot	minValue	maxValue	increment	default	unit
✓				101

MAV_0_FLOW_CTRL (INT32)

Enable serial flow control for instance 0.

This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.

Values:

• 0: Force off
• 1: Force on
• 2: Auto-detected

Reboot	minValue	maxValue	increment	default	unit
✓				2

MAV_0_FORWARD (INT32)

Enable MAVLink Message forwarding for instance 0.

If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

MAV_0_HL_FREQ (FLOAT)

Configures the frequency of HIGH_LATENCY2 stream for instance 0.

Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 0, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	50.0	0.001	0.015	Hz

MAV_0_MODE (INT32)

MAVLink Mode for instance 0.

The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

Values:

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision
• 10: Gimbal
• 11: Onboard Low Bandwidth
• 12: uAvionix

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_0_RADIO_CTL (INT32)

Enable software throttling of mavlink on instance 0.

If enabled, MAVLink messages will be throttled according to txbuf field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

MAV_0_RATE (INT32)

Maximum MAVLink sending rate for instance 0.

Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

Reboot	minValue	maxValue	increment	default	unit
✓	0			1200	B/s

MAV_0_REMOTE_PRT (INT32)

MAVLink Remote Port for instance 0.

If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.

Reboot	minValue	maxValue	increment	default	unit
✓				14550

MAV_0_UDP_PRT (INT32)

MAVLink Network Port for instance 0.

If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.

Reboot	minValue	maxValue	increment	default	unit
✓				14556

MAV_1_BROADCAST (INT32)

Broadcast heartbeats on local network for MAVLink instance 1.

This allows a ground control station to automatically find the drone on the local network.

Values:

• 0: Never broadcast
• 1: Always broadcast
• 2: Only multicast

Reboot	minValue	maxValue	increment	default	unit
				0

MAV_1_CONFIG (INT32)

Serial Configuration for MAVLink (instance 1).

Configure on which serial port to run MAVLink.

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
• 1000: Ethernet

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_1_FLOW_CTRL (INT32)

Enable serial flow control for instance 1.

This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.

Values:

• 0: Force off
• 1: Force on
• 2: Auto-detected

Reboot	minValue	maxValue	increment	default	unit
✓				2

MAV_1_FORWARD (INT32)

Enable MAVLink Message forwarding for instance 1.

If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

MAV_1_HL_FREQ (FLOAT)

Configures the frequency of HIGH_LATENCY2 stream for instance 1.

Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 1, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	50.0	0.001	0.015	Hz

MAV_1_MODE (INT32)

MAVLink Mode for instance 1.

The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

Values:

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision
• 10: Gimbal
• 11: Onboard Low Bandwidth
• 12: uAvionix

Reboot	minValue	maxValue	increment	default	unit
✓				2

MAV_1_RADIO_CTL (INT32)

Enable software throttling of mavlink on instance 1.

If enabled, MAVLink messages will be throttled according to txbuf field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

MAV_1_RATE (INT32)

Maximum MAVLink sending rate for instance 1.

Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

Reboot	minValue	maxValue	increment	default	unit
✓	0			0	B/s

MAV_1_REMOTE_PRT (INT32)

MAVLink Remote Port for instance 1.

If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_1_UDP_PRT (INT32)

MAVLink Network Port for instance 1.

If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_2_BROADCAST (INT32)

Broadcast heartbeats on local network for MAVLink instance 2.

This allows a ground control station to automatically find the drone on the local network.

Values:

• 0: Never broadcast
• 1: Always broadcast
• 2: Only multicast

Reboot	minValue	maxValue	increment	default	unit
				0

MAV_2_CONFIG (INT32)

Serial Configuration for MAVLink (instance 2).

Configure on which serial port to run MAVLink.

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
• 1000: Ethernet

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_2_FLOW_CTRL (INT32)

Enable serial flow control for instance 2.

This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.

Values:

• 0: Force off
• 1: Force on
• 2: Auto-detected

Reboot	minValue	maxValue	increment	default	unit
✓				2

MAV_2_FORWARD (INT32)

Enable MAVLink Message forwarding for instance 2.

If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

MAV_2_HL_FREQ (FLOAT)

Configures the frequency of HIGH_LATENCY2 stream for instance 2.

Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 2, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	50.0	0.001	0.015	Hz

MAV_2_MODE (INT32)

MAVLink Mode for instance 2.

The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.

Values:

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision
• 10: Gimbal
• 11: Onboard Low Bandwidth
• 12: uAvionix

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_2_RADIO_CTL (INT32)

Enable software throttling of mavlink on instance 2.

If enabled, MAVLink messages will be throttled according to txbuf field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

MAV_2_RATE (INT32)

Maximum MAVLink sending rate for instance 2.

Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).

Reboot	minValue	maxValue	increment	default	unit
✓	0			0	B/s

MAV_2_REMOTE_PRT (INT32)

MAVLink Remote Port for instance 2.

If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_2_UDP_PRT (INT32)

MAVLink Network Port for instance 2.

If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.

Reboot	minValue	maxValue	increment	default	unit
✓				0

MAV_COMP_ID (INT32)

MAVLink component ID.

Reboot	minValue	maxValue	increment	default	unit
✓	1	250		1

MAV_FWDEXTSP (INT32)

Forward external setpoint messages.

If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MAV_HASH_CHK_EN (INT32)

Parameter hash check.

Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MAV_HB_FORW_EN (INT32)

Heartbeat message forwarding.

The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MAV_PROTO_VER (INT32)

MAVLink protocol version.

Values:

• 0: Default to 1, switch to 2 if GCS sends version 2
• 1: Always use version 1
• 2: Always use version 2

Reboot	minValue	maxValue	increment	default	unit
				0

MAV_RADIO_TOUT (INT32)

Timeout in seconds for the RADIO_STATUS reports coming in.

If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.

Reboot	minValue	maxValue	increment	default	unit
	1	250		5	s

MAV_SIK_RADIO_ID (INT32)

MAVLink SiK Radio ID.

When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio

Reboot	minValue	maxValue	increment	default	unit
	-1	240		0

MAV_SYS_ID (INT32)

MAVLink system ID.

Reboot	minValue	maxValue	increment	default	unit
✓	1	250		1

MAV_TYPE (INT32)

MAVLink airframe type.

Values:

• 0: Generic micro air vehicle
• 1: Fixed wing aircraft
• 2: Quadrotor
• 3: Coaxial helicopter
• 4: Normal helicopter with tail rotor
• 7: Airship, controlled
• 8: Free balloon, uncontrolled
• 10: Ground rover
• 11: Surface vessel, boat, ship
• 12: Submarine
• 13: Hexarotor
• 14: Octorotor
• 15: Tricopter
• 19: VTOL Two-rotor Tailsitter
• 20: VTOL Quad-rotor Tailsitter
• 21: VTOL Tiltrotor
• 22: VTOL Standard (separate fixed rotors for hover and cruise flight)
• 23: VTOL Tailsitter

Reboot	minValue	maxValue	increment	default	unit
	0	22		0

MAV_USEHILGPS (INT32)

Use/Accept HIL GPS message even if not in HIL mode.

If set to 1 incoming HIL GPS messages are parsed.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

Magnetometer

BMM350_AVG (INT32)

BMM350 data averaging.

Defines which averaging mode to use during data polling.

Values:

• 0: No averaging
• 1: 2 sample averaging
• 2: 4 sample averaging
• 3: 8 sample averaging

Reboot	minValue	maxValue	increment	default	unit
✓				1

BMM350_DRIVE (INT32)

BMM350 pad drive strength setting.

This setting helps avoid signal problems like overshoot or undershoot.

Reboot	minValue	maxValue	increment	default	unit
	0	7		7

BMM350_ODR (INT32)

BMM350 ODR rate.

Defines which ODR rate to use during data polling.

Values:

• 0: 400 Hz
• 1: 200 Hz
• 2: 100 Hz
• 3: 50 Hz
• 4: 25 Hz
• 5: 12.5 Hz
• 6: 6.25 Hz
• 7: 3.125 Hz
• 8: 1.5625 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				3

Magnetometer Bias Estimator

MBE_ENABLE (INT32)

Enable online mag bias calibration.

This enables continuous calibration of the magnetometers before takeoff using gyro data.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

MBE_LEARN_GAIN (FLOAT)

Mag bias estimator learning gain.

Increase to make the estimator more responsive Decrease to make the estimator more robust to noise

Reboot	minValue	maxValue	increment	default	unit
	0.1	100	0.1	18.

Manual Control

MAN_ARM_GESTURE (INT32)

Enable arm/disarm stick gesture.

This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MAN_KILL_GEST_T (FLOAT)

Trigger time for kill stick gesture.

The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.

Reboot	minValue	maxValue	increment	default	unit
	-1	15		-1.	s

Mission

FW_GPSF_LT (INT32)

GPS failure loiter time.

The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.

Reboot	minValue	maxValue	increment	default	unit
	0	3600		30	s

FW_GPSF_R (FLOAT)

GPS failure fixed roll angle.

Roll angle in GPS failure loiter mode.

Reboot	minValue	maxValue	increment	default	unit
	0.0	30.0	0.5	15.0	deg

MIS_COMMAND_TOUT (FLOAT)

Timeout to allow the payload to execute the mission command.

Ensure: gripper: NAV_CMD_DO_GRIPPER has released before continuing mission. winch: CMD_DO_WINCH has delivered before continuing mission. gimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW has reached the commanded orientation before beginning to take pictures.

Reboot	minValue	maxValue	increment	default	unit
	0			0.	s

MIS_DIST_1WP (FLOAT)

Maximal horizontal distance from Home to first waypoint.

There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home. Has no effect on mission validity. Set a value of zero or less to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1	100000	100	10000	m

MIS_LND_ABRT_ALT (INT32)

Landing abort min altitude.

Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.

Reboot	minValue	maxValue	increment	default	unit
	0			30	m

MIS_MNT_YAW_CTL (INT32)

Enable yaw control of the mount. (Only affects multicopters and ROI mission items).

If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.

Values:

• 0: Disable
• 1: Enable

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

MIS_TAKEOFF_ALT (FLOAT)

Default take-off altitude.

This is the relative altitude the system will take off to if not otherwise specified.

Reboot	minValue	maxValue	increment	default	unit
	0		0.5	2.5	m

MIS_TKO_LAND_REQ (INT32)

Mission takeoff/landing required.

Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.

Values:

• 0: No requirements
• 1: Require a takeoff
• 2: Require a landing
• 3: Require a takeoff and a landing
• 4: Require both a takeoff and a landing, or neither
• 5: Same as previous when landed, in-air require landing only if no valid VTOL approach is present

Reboot	minValue	maxValue	increment	default	unit
				0

MIS_YAW_ERR (FLOAT)

Max yaw error in degrees needed for waypoint heading acceptance.

Reboot	minValue	maxValue	increment	default	unit
	0	90	1	12.0	deg

MIS_YAW_TMT (FLOAT)

Time in seconds we wait on reaching target heading at a waypoint if it is forced.

If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.

Reboot	minValue	maxValue	increment	default	unit
	-1	20	1	-1.0	s

MPC_YAW_MODE (INT32)

Heading behavior in autonomous modes.

Values:

• 0: towards waypoint
• 1: towards home
• 2: away from home
• 3: along trajectory
• 4: towards waypoint (yaw first)
• 5: yaw fixed

Reboot	minValue	maxValue	increment	default	unit
	0	4		0

NAV_ACC_RAD (FLOAT)

Acceptance Radius.

Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.

Reboot	minValue	maxValue	increment	default	unit
	0.05	200.0	0.5	10.0	m

NAV_FORCE_VT (INT32)

Force VTOL mode takeoff and land.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

NAV_FW_ALTL_RAD (FLOAT)

FW Altitude Acceptance Radius before a landing.

Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.

Reboot	minValue	maxValue	increment	default	unit
	0.05	200.0		5.0	m

NAV_FW_ALT_RAD (FLOAT)

FW Altitude Acceptance Radius.

Acceptance radius for fixedwing altitude.

Reboot	minValue	maxValue	increment	default	unit
	0.05	200.0	0.5	10.0	m

NAV_LOITER_RAD (FLOAT)

Loiter radius (FW only).

Default value of loiter radius in FW mode (e.g. for Loiter mode).

Reboot	minValue	maxValue	increment	default	unit
	25	1000	0.5	80.0	m

NAV_MC_ALT_RAD (FLOAT)

MC Altitude Acceptance Radius.

Acceptance radius for multicopter altitude.

Reboot	minValue	maxValue	increment	default	unit
	0.05	200.0	0.5	0.8	m

NAV_MIN_GND_DIST (FLOAT)

Minimum height above ground during Mission and RTL.

Minimum height above ground the vehicle is allowed to descend to during Mission and RTL, excluding landing commands. Requires a distance sensor to be set up. Note: only prevents the vehicle from descending further, but does not force it to climb. Set to a negative value to disable.

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

NAV_MIN_LTR_ALT (FLOAT)

Minimum Loiter altitude.

This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1		0.5	-1.	m

NAV_TRAFF_AVOID (INT32)

Set traffic avoidance mode.

Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders

Values:

• 0: Disabled
• 1: Warn only
• 2: Return mode
• 3: Land mode
• 4: Position Hold mode

Reboot	minValue	maxValue	increment	default	unit
				1

NAV_TRAFF_A_HOR (FLOAT)

Set NAV TRAFFIC AVOID horizontal distance.

Defines a crosstrack horizontal distance

Reboot	minValue	maxValue	increment	default	unit
	500			500	m

NAV_TRAFF_A_VER (FLOAT)

Set NAV TRAFFIC AVOID vertical distance.

Reboot	minValue	maxValue	increment	default	unit
	10	500		500	m

NAV_TRAFF_COLL_T (INT32)

Estimated time until collision.

Minimum acceptable time until collsion. Assumes constant speed over 3d distance.

Reboot	minValue	maxValue	increment	default	unit
	1	900000000		60	s

Mixer Output

MC_AIRMODE (INT32)

Multicopter air-mode.

The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.

Values:

• 0: Disabled
• 1: Roll/Pitch
• 2: Roll/Pitch/Yaw

Reboot	minValue	maxValue	increment	default	unit
				0

ModalAI Custom Configuration

MODALAI_CONFIG (INT32)

Custom configuration for ModalAI drones.

This can be set to indicate that drone behavior needs to be changed to match a custom setting

Reboot	minValue	maxValue	increment	default	unit
✓				0

Mount

MNT_DO_STAB (INT32)

Stabilize the mount.

Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.

Values:

• 0: Disable
• 1: Stabilize all axis
• 2: Stabilize yaw for absolute/lock mode.

Reboot	minValue	maxValue	increment	default	unit
	0	2		0

MNT_LND_P_MAX (FLOAT)

Pitch maximum when landed.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		90.0	deg

MNT_LND_P_MIN (FLOAT)

Pitch minimum when landed.

Reboot	minValue	maxValue	increment	default	unit
	-90.0	90.0		-90.0	deg

MNT_MAN_PITCH (INT32)

Auxiliary channel to control pitch (in AUX input or manual mode).

Values:

• 0: Disable
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
	0	6		0

MNT_MAN_ROLL (INT32)

Auxiliary channel to control roll (in AUX input or manual mode).

Values:

• 0: Disable
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
	0	6		0

MNT_MAN_YAW (INT32)

Auxiliary channel to control yaw (in AUX input or manual mode).

Values:

• 0: Disable
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
	0	6		0

MNT_MAV_COMPID (INT32)

Mavlink Component ID of the mount.

If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.

Reboot	minValue	maxValue	increment	default	unit
				154

MNT_MAV_SYSID (INT32)

Mavlink System ID of the mount.

If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.

Reboot	minValue	maxValue	increment	default	unit
				1

MNT_MODE_IN (INT32)

Mount input mode.

This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.

Values:

• -1: DISABLED
• 0: Auto (RC and MAVLink gimbal protocol v2)
• 1: RC
• 2: MAVLINK_ROI (protocol v1, to be deprecated)
• 3: MAVLINK_DO_MOUNT (protocol v1, to be deprecated)
• 4: MAVlink gimbal protocol v2

Reboot	minValue	maxValue	increment	default	unit
✓	-1	4		-1

MNT_MODE_OUT (INT32)

Mount output mode.

This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.

Values:

• 0: AUX
• 1: MAVLink gimbal protocol v1
• 2: MAVLink gimbal protocol v2

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

MNT_OFF_PITCH (FLOAT)

Offset for pitch channel output in degrees.

Reboot	minValue	maxValue	increment	default	unit
	-360.0	360.0		0.0	deg

MNT_OFF_ROLL (FLOAT)

Offset for roll channel output in degrees.

Reboot	minValue	maxValue	increment	default	unit
	-360.0	360.0		0.0	deg

MNT_OFF_YAW (FLOAT)

Offset for yaw channel output in degrees.

Reboot	minValue	maxValue	increment	default	unit
	-360.0	360.0		0.0	deg

MNT_RANGE_PITCH (FLOAT)

Range of pitch channel output in degrees (only in AUX output mode).

Reboot	minValue	maxValue	increment	default	unit
	1.0	720.0		90.0	deg

MNT_RANGE_ROLL (FLOAT)

Range of roll channel output in degrees (only in AUX output mode).

Reboot	minValue	maxValue	increment	default	unit
	1.0	720.0		90.0	deg

MNT_RANGE_YAW (FLOAT)

Range of yaw channel output in degrees (only in AUX output mode).

Reboot	minValue	maxValue	increment	default	unit
	1.0	720.0		360.0	deg

MNT_RATE_PITCH (FLOAT)

Angular pitch rate for manual input in degrees/second.

Full stick input [-1..1] translats to [-pitch rate..pitch rate].

Reboot	minValue	maxValue	increment	default	unit
	1.0	90.0		30.0	deg/s

MNT_RATE_YAW (FLOAT)

Angular yaw rate for manual input in degrees/second.

Full stick input [-1..1] translats to [-yaw rate..yaw rate].

Reboot	minValue	maxValue	increment	default	unit
	1.0	90.0		30.0	deg/s

MNT_RC_IN_MODE (INT32)

Input mode for RC gimbal input.

Values:

• 0: Angle
• 1: Angular rate

Reboot	minValue	maxValue	increment	default	unit
	0	1		1

Multicopter Acro Mode

MC_ACRO_EXPO (FLOAT)

Acro mode roll, pitch expo factor.

Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.

MC_ACRO_EXPO_Y (FLOAT)

Acro mode yaw expo factor.

Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.

MC_ACRO_P_MAX (FLOAT)

Acro mode maximum pitch rate.

Full stick deflection leads to this rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	100.	deg/s

MC_ACRO_R_MAX (FLOAT)

Acro mode maximum roll rate.

Full stick deflection leads to this rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	100.	deg/s

MC_ACRO_SUPEXPO (FLOAT)

Acro mode roll, pitch super expo factor.

"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect

Reboot	minValue	maxValue	increment	default	unit
	0	0.95		0.

MC_ACRO_SUPEXPOY (FLOAT)

Acro mode yaw super expo factor.

"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect

Reboot	minValue	maxValue	increment	default	unit
	0	0.95		0.

MC_ACRO_Y_MAX (FLOAT)

Acro mode maximum yaw rate.

Full stick deflection leads to this rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	100.	deg/s

Multicopter Attitude Control

MC_PITCHRATE_MAX (FLOAT)

Max pitch rate.

Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	220.0	deg/s

MC_PITCH_P (FLOAT)

Pitch P gain.

Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Reboot	minValue	maxValue	increment	default	unit
	0.0	12	0.1	6.5

MC_ROLLRATE_MAX (FLOAT)

Max roll rate.

Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	220.0	deg/s

MC_ROLL_P (FLOAT)

Roll P gain.

Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Reboot	minValue	maxValue	increment	default	unit
	0.0	12	0.1	6.5

MC_YAWRATE_MAX (FLOAT)

Max yaw rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1800.0	5	200.0	deg/s

MC_YAW_P (FLOAT)

Yaw P gain.

Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.

Reboot	minValue	maxValue	increment	default	unit
	0.0	5	0.1	2.8

MC_YAW_WEIGHT (FLOAT)

Yaw weight.

A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.1	0.4

MPC_YAWRAUTO_ACC (FLOAT)

Maximum yaw acceleration in autonomous modes.

Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.

Reboot	minValue	maxValue	increment	default	unit
	5	360	5	60.	deg/s^2

MPC_YAWRAUTO_MAX (FLOAT)

Maximum yaw rate in autonomous modes.

Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.

Reboot	minValue	maxValue	increment	default	unit
	5	360	5	45.	deg/s

Multicopter Position Control

CP_DELAY (FLOAT)

Average delay of the range sensor message plus the tracking delay of the position controller in seconds.

Only used in Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0.4	s

CP_DIST (FLOAT)

Minimum distance the vehicle should keep to all obstacles.

Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value

Reboot	minValue	maxValue	increment	default	unit
	-1	15		-1.0	m

CP_GO_NO_DATA (INT32)

Boolean to allow moving into directions where there is no sensor data (outside FOV).

Only used in Position mode.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

CP_GUIDE_ANG (FLOAT)

Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction.

Only used in Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0	90		30.	deg

MC_MAN_TILT_TAU (FLOAT)

Manual tilt input filter time constant.

Setting this parameter to 0 disables the filter

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0		0.0	s

MPC_ACC_DECOUPLE (INT32)

Acceleration to tilt coupling.

Set to decouple tilt from vertical acceleration. This provides smoother flight but slightly worse tracking in position and auto modes. Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MPC_ACC_DOWN_MAX (FLOAT)

Maximum downwards acceleration in climb rate controlled modes.

Reboot	minValue	maxValue	increment	default	unit
	2	15	1	3.	m/s^2

MPC_ACC_HOR (FLOAT)

Acceleration for autonomous and for manual modes.

When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.

Reboot	minValue	maxValue	increment	default	unit
	2	15	1	3.	m/s^2

MPC_ACC_HOR_MAX (FLOAT)

Maximum horizontal acceleration.

MPC_POS_MODE 1 just deceleration 4 not used, use MPC_ACC_HOR instead

Reboot	minValue	maxValue	increment	default	unit
	2	15	1	5.	m/s^2

MPC_ACC_UP_MAX (FLOAT)

Maximum upwards acceleration in climb rate controlled modes.

Reboot	minValue	maxValue	increment	default	unit
	2	15	1	4.	m/s^2

MPC_ALT_MODE (INT32)

Altitude reference mode.

Control height 0: relative earth frame origin which may drift due to sensors 1: relative to ground (requires distance sensor) which changes with terrain variation. It will revert to relative earth frame if the distance to ground estimate becomes invalid. 2: relative to ground (requires distance sensor) when stationary and relative to earth frame when moving horizontally. The speed threshold is MPC_HOLD_MAX_XY

Values:

• 0: Altitude following
• 1: Terrain following
• 2: Terrain hold

Reboot	minValue	maxValue	increment	default	unit
	0	2		2

MPC_HOLD_DZ (FLOAT)

Deadzone for sticks in manual piloted modes.

Does not apply to manual throttle and direct attitude piloting by stick.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.1

MPC_HOLD_MAX_XY (FLOAT)

Maximum horizontal velocity for which position hold is enabled (use 0 to disable check).

Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2

Reboot	minValue	maxValue	increment	default	unit
	0	3		0.8	m/s

MPC_HOLD_MAX_Z (FLOAT)

Maximum vertical velocity for which position hold is enabled (use 0 to disable check).

Only used with MPC_ALT_MODE 1

Reboot	minValue	maxValue	increment	default	unit
	0	3		0.6	m/s

MPC_JERK_AUTO (FLOAT)

Jerk limit in autonomous modes.

Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.

Reboot	minValue	maxValue	increment	default	unit
	1	80	1	4.	m/s^3

MPC_JERK_MAX (FLOAT)

Maximum horizontal and vertical jerk in Position/Altitude mode.

Limit the maximum jerk (acceleration change) of the vehicle. A lower value leads to smoother motions but limits agility. Setting this to the maximum value essentially disables the limit. Only used with MPC_POS_MODE Acceleration based.

Reboot	minValue	maxValue	increment	default	unit
	0.5	500	1	8.	m/s^3

MPC_LAND_ALT1 (FLOAT)

Altitude for 1. step of slow landing (descend).

Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"

Reboot	minValue	maxValue	increment	default	unit
	0	122		10.	m

MPC_LAND_ALT2 (FLOAT)

Altitude for 2. step of slow landing (landing).

Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"

Reboot	minValue	maxValue	increment	default	unit
	0	122		5.	m

MPC_LAND_ALT3 (FLOAT)

Altitude for 3. step of slow landing.

Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available

Reboot	minValue	maxValue	increment	default	unit
	0	122		1.	m

MPC_LAND_CRWL (FLOAT)

Land crawl descend rate.

Used below MPC_LAND_ALT3 if distance sensor data is availabe.

Reboot	minValue	maxValue	increment	default	unit
	0.1			0.3	m/s

MPC_LAND_RADIUS (FLOAT)

User assisted landing radius.

When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.

Reboot	minValue	maxValue	increment	default	unit
	0		1	1000.	m

MPC_LAND_RC_HELP (INT32)

Enable nudging based on user input during autonomous land routine.

Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).

Values:

• 0: Nudging disabled
• 1: Nudging enabled

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

MPC_LAND_SPEED (FLOAT)

Landing descend rate.

Reboot	minValue	maxValue	increment	default	unit
	0.6			0.7	m/s

MPC_MANTHR_MIN (FLOAT)

Minimum collective thrust in Stabilized mode.

The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.08	norm

MPC_MAN_TILT_MAX (FLOAT)

Maximal tilt angle in Stabilized or Altitude mode.

Reboot	minValue	maxValue	increment	default	unit
	1	70	1	35.	deg

MPC_MAN_Y_MAX (FLOAT)

Max manual yaw rate for Stabilized, Altitude, Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0	400	10	150.	deg/s

MPC_MAN_Y_TAU (FLOAT)

Manual yaw rate input filter time constant.

Not used in Stabilized mode Setting this parameter to 0 disables the filter

Reboot	minValue	maxValue	increment	default	unit
	0	5	0.01	0.08	s

MPC_POS_MODE (INT32)

Position/Altitude mode variant.

The supported sub-modes are: Direct velocity: Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. Acceleration based: Sticks map to acceleration and there's a virtual brake drag

Values:

• 0: Direct velocity
• 4: Acceleration based

Reboot	minValue	maxValue	increment	default	unit
				4

MPC_THR_CURVE (INT32)

Thrust curve mapping in Stabilized Mode.

Defines how the throttle stick is mapped to collective thrust in Stabilized mode. Rescale to hover thrust: Stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). No Rescale: Directly map the stick 1:1 to the output. Can be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive. With MPC_THR_HOVER 0.5 both modes are the same.

Values:

• 0: Rescale to hover thrust
• 1: No Rescale

Reboot	minValue	maxValue	increment	default	unit
				0

MPC_THR_HOVER (FLOAT)

Vertical thrust required to hover.

Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.

Reboot	minValue	maxValue	increment	default	unit
	0.1	0.8	0.01	0.5	norm

MPC_THR_MAX (FLOAT)

Maximum collective thrust in climb rate controlled modes.

Limit allowed thrust e.g. for indoor test of overpowered vehicle.

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.05	1.	norm

MPC_THR_MIN (FLOAT)

Minimum collective thrust in climb rate controlled modes.

Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).

Reboot	minValue	maxValue	increment	default	unit
	0.05	0.5	0.01	0.12	norm

MPC_THR_XY_MARG (FLOAT)

Horizontal thrust margin.

Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.

Reboot	minValue	maxValue	increment	default	unit
	0	0.5	0.01	0.3	norm

MPC_TILTMAX_AIR (FLOAT)

Maximum tilt angle in air.

Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.

Reboot	minValue	maxValue	increment	default	unit
	20	89	1	45.	deg

MPC_TILTMAX_LND (FLOAT)

Maximum tilt during inital takeoff ramp.

Tighter tilt limit during takeoff to avoid tip over.

Reboot	minValue	maxValue	increment	default	unit
	5	89	1	12.	deg

MPC_TKO_RAMP_T (FLOAT)

Smooth takeoff ramp time constant.

Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp

Reboot	minValue	maxValue	increment	default	unit
	0	5		3.	s

MPC_TKO_SPEED (FLOAT)

Takeoff climb rate.

Reboot	minValue	maxValue	increment	default	unit
	1	5		1.5	m/s

MPC_USE_HTE (INT32)

Hover thrust estimator.

Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

MPC_VELD_LP (FLOAT)

Velocity derivative low pass cutoff frequency.

A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
	0	50	0.5	5.0	Hz

MPC_VEL_LP (FLOAT)

Velocity low pass cutoff frequency.

A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
	0	50	0.5	0.0	Hz

MPC_VEL_MANUAL (FLOAT)

Maximum horizontal velocity setpoint in Position mode.

Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.

Reboot	minValue	maxValue	increment	default	unit
	3	20	1	10.	m/s

MPC_VEL_MAN_BACK (FLOAT)

Maximum backward velocity in Position mode.

If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.

Reboot	minValue	maxValue	increment	default	unit
	-1	20	1	-1.	m/s

MPC_VEL_MAN_SIDE (FLOAT)

Maximum sideways velocity in Position mode.

If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.

Reboot	minValue	maxValue	increment	default	unit
	-1	20	1	-1.	m/s

MPC_VEL_NF_BW (FLOAT)

Velocity notch filter bandwidth.

A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
	0	50	0.5	5.0	Hz

MPC_VEL_NF_FRQ (FLOAT)

Velocity notch filter frequency.

The center frequency for the 2nd order notch filter on the velocity. A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
	0	50	0.5	0.0	Hz

MPC_XY_CRUISE (FLOAT)

Default horizontal velocity in autonomous modes.

e.g. in Missions, RTL, Goto if the waypoint does not specify differently

Reboot	minValue	maxValue	increment	default	unit
	3	20	1	5.	m/s

MPC_XY_ERR_MAX (FLOAT)

Maximum horizontal error allowed by the trajectory generator.

The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10	1	2.

MPC_XY_MAN_EXPO (FLOAT)

Manual position control stick exponential curve sensitivity.

The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.6

MPC_XY_P (FLOAT)

Proportional gain for horizontal position error.

Defined as corrective velocity in m/s per m position error

Reboot	minValue	maxValue	increment	default	unit
	0	2	0.1	0.95

MPC_XY_TRAJ_P (FLOAT)

Proportional gain for horizontal trajectory position error.

Reboot	minValue	maxValue	increment	default	unit
	0.1	1	0.1	0.5

MPC_XY_VEL_ALL (FLOAT)

Overall Horizontal Velocity Limit.

If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.

Reboot	minValue	maxValue	increment	default	unit
	-20	20	1	-10.

MPC_XY_VEL_D_ACC (FLOAT)

Differential gain for horizontal velocity error.

Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative

Reboot	minValue	maxValue	increment	default	unit
	0.1	2	0.02	0.2

MPC_XY_VEL_I_ACC (FLOAT)

Integral gain for horizontal velocity error.

Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.

Reboot	minValue	maxValue	increment	default	unit
	0	60	0.02	0.4

MPC_XY_VEL_MAX (FLOAT)

Maximum horizontal velocity.

Absolute maximum for all velocity controlled modes. Any higher value is truncated.

Reboot	minValue	maxValue	increment	default	unit
	0	20	1	12.	m/s

MPC_XY_VEL_P_ACC (FLOAT)

Proportional gain for horizontal velocity error.

Defined as corrective acceleration in m/s^2 per m/s velocity error

Reboot	minValue	maxValue	increment	default	unit
	1.2	5	0.1	1.8

MPC_YAW_EXPO (FLOAT)

Manual control stick yaw rotation exponential curve.

The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.6

MPC_Z_MAN_EXPO (FLOAT)

Manual control stick vertical exponential curve.

The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve

Reboot	minValue	maxValue	increment	default	unit
	0	1	0.01	0.6

MPC_Z_P (FLOAT)

Proportional gain for vertical position error.

Defined as corrective velocity in m/s per m position error

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.5	0.1	1.

MPC_Z_VEL_ALL (FLOAT)

Overall Vertical Velocity Limit.

If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.

Reboot	minValue	maxValue	increment	default	unit
	-3	8	0.5	-3.

MPC_Z_VEL_D_ACC (FLOAT)

Differential gain for vertical velocity error.

Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative

Reboot	minValue	maxValue	increment	default	unit
	0	2	0.02	0.

MPC_Z_VEL_I_ACC (FLOAT)

Integral gain for vertical velocity error.

Defined as corrective acceleration in m/s^2 per m velocity integral

Reboot	minValue	maxValue	increment	default	unit
	0.2	3	0.1	2.

MPC_Z_VEL_MAX_DN (FLOAT)

Maximum descent velocity.

Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP

Reboot	minValue	maxValue	increment	default	unit
	0.5	4	0.1	1.5	m/s

MPC_Z_VEL_MAX_UP (FLOAT)

Maximum ascent velocity.

Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP

Reboot	minValue	maxValue	increment	default	unit
	0.5	8	0.1	3.	m/s

MPC_Z_VEL_P_ACC (FLOAT)

Proportional gain for vertical velocity error.

Defined as corrective acceleration in m/s^2 per m/s velocity error

Reboot	minValue	maxValue	increment	default	unit
	2	15	0.1	4.

MPC_Z_V_AUTO_DN (FLOAT)

Descent velocity in autonomous modes.

For manual modes and offboard, see MPC_Z_VEL_MAX_DN

Reboot	minValue	maxValue	increment	default	unit
	0.5	4	0.5	1.5	m/s

MPC_Z_V_AUTO_UP (FLOAT)

Ascent velocity in autonomous modes.

For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP

Reboot	minValue	maxValue	increment	default	unit
	0.5	8	0.5	3.	m/s

SYS_VEHICLE_RESP (FLOAT)

Responsiveness.

Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.05	-0.4

WV_EN (INT32)

Enable weathervane.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

WV_ROLL_MIN (FLOAT)

Minimum roll angle setpoint for weathervane controller to demand a yaw-rate.

Reboot	minValue	maxValue	increment	default	unit
	0	5		1.0	deg

WV_YRATE_MAX (FLOAT)

Maximum yawrate the weathervane controller is allowed to demand.

Reboot	minValue	maxValue	increment	default	unit
	0	120		90.0	deg/s

Multicopter Position Slow Mode

MC_SLOW_DEF_HVEL (FLOAT)

Default horizontal velocity limit.

This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

Reboot	minValue	maxValue	increment	default	unit
	0.1		0.1	3.	m/s

MC_SLOW_DEF_VVEL (FLOAT)

Default vertical velocity limit.

This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

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

MC_SLOW_DEF_YAWR (FLOAT)

Default yaw rate limit.

This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

Reboot	minValue	maxValue	increment	default	unit
	1		0.1	45.	deg/s

MC_SLOW_MAP_HVEL (INT32)

Manual input mapped to scale horizontal velocity in position slow mode.

Values:

• 0: No rescaling
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
				0

MC_SLOW_MAP_VVEL (INT32)

Manual input mapped to scale vertical velocity in position slow mode.

Values:

• 0: No rescaling
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
				0

MC_SLOW_MAP_YAWR (INT32)

Manual input mapped to scale yaw rate in position slow mode.

Values:

• 0: No rescaling
• 1: AUX1
• 2: AUX2
• 3: AUX3
• 4: AUX4
• 5: AUX5
• 6: AUX6

Reboot	minValue	maxValue	increment	default	unit
				0

MC_SLOW_MIN_HVEL (FLOAT)

Horizontal velocity lower limit.

The lowest input maps and is clamped to this velocity.

Reboot	minValue	maxValue	increment	default	unit
	0.1		0.1	.3	m/s

MC_SLOW_MIN_VVEL (FLOAT)

Vertical velocity lower limit.

The lowest input maps and is clamped to this velocity.

Reboot	minValue	maxValue	increment	default	unit
	0.1		0.1	.3	m/s

MC_SLOW_MIN_YAWR (FLOAT)

Yaw rate lower limit.

The lowest input maps and is clamped to this rate.

Reboot	minValue	maxValue	increment	default	unit
	1		0.1	3.	deg/s

Multicopter Rate Control

MC_BAT_SCALE_EN (INT32)

Battery power level scaler.

This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

MC_PITCHRATE_D (FLOAT)

Pitch rate D gain.

Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.0005	0.003

MC_PITCHRATE_FF (FLOAT)

Pitch rate feedforward.

Improves tracking performance.

Reboot	minValue	maxValue	increment	default	unit
	0.0			0.0

MC_PITCHRATE_I (FLOAT)

Pitch rate I gain.

Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.2

MC_PITCHRATE_K (FLOAT)

Pitch rate controller gain.

Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.

Reboot	minValue	maxValue	increment	default	unit
	0.01	5.0	0.0005	1.0

MC_PITCHRATE_P (FLOAT)

Pitch rate P gain.

Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Reboot	minValue	maxValue	increment	default	unit
	0.01	0.6	0.01	0.15

MC_PR_INT_LIM (FLOAT)

Pitch rate integrator limit.

Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.30

MC_ROLLRATE_D (FLOAT)

Roll rate D gain.

Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.01	0.0005	0.003

MC_ROLLRATE_FF (FLOAT)

Roll rate feedforward.

Improves tracking performance.

Reboot	minValue	maxValue	increment	default	unit
	0.0			0.0

MC_ROLLRATE_I (FLOAT)

Roll rate I gain.

Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.2

MC_ROLLRATE_K (FLOAT)

Roll rate controller gain.

Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.

Reboot	minValue	maxValue	increment	default	unit
	0.01	5.0	0.0005	1.0

MC_ROLLRATE_P (FLOAT)

Roll rate P gain.

Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Reboot	minValue	maxValue	increment	default	unit
	0.01	0.5	0.01	0.15

MC_RR_INT_LIM (FLOAT)

Roll rate integrator limit.

Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.30

MC_YAWRATE_D (FLOAT)

Yaw rate D gain.

Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.0

MC_YAWRATE_FF (FLOAT)

Yaw rate feedforward.

Improves tracking performance.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.0

MC_YAWRATE_I (FLOAT)

Yaw rate I gain.

Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.1

MC_YAWRATE_K (FLOAT)

Yaw rate controller gain.

Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.

Reboot	minValue	maxValue	increment	default	unit
	0.0	5.0	0.0005	1.0

MC_YAWRATE_P (FLOAT)

Yaw rate P gain.

Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Reboot	minValue	maxValue	increment	default	unit
	0.0	0.6	0.01	0.2

MC_YR_INT_LIM (FLOAT)

Yaw rate integrator limit.

Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.30

OSD

MSP_OSD_CONFIG (INT32)

Serial Configuration for MSP OSD.

Configure on which serial port to run MSP OSD.

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

OSD_ATXXXX_CFG (INT32)

Enable/Disable the ATXXX OSD Chip.

Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

Values:

• 0: Disabled
• 1: NTSC
• 2: PAL

Reboot	minValue	maxValue	increment	default	unit
✓				0

OSD_CH_HEIGHT (INT32)

OSD Crosshairs Height.

Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon

Reboot	minValue	maxValue	increment	default	unit
	-8	8		0

OSD_DWELL_TIME (INT32)

OSD Dwell Time (ms).

Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.

Reboot	minValue	maxValue	increment	default	unit
	100	10000		500

OSD_LOG_LEVEL (INT32)

OSD Warning Level.

Minimum security of log level to display on the OSD.

Reboot	minValue	maxValue	increment	default	unit
				3

OSD_SCROLL_RATE (INT32)

OSD Scroll Rate (ms).

Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.

Reboot	minValue	maxValue	increment	default	unit
	100	1000		125

OSD_SYMBOLS (INT32)

OSD Symbol Selection.

Configure / toggle support display options.

Bitmask:

• 0: CRAFT_NAME
• 1: DISARMED
• 2: GPS_LAT
• 3: GPS_LON
• 4: GPS_SATS
• 5: GPS_SPEED
• 6: HOME_DIST
• 7: HOME_DIR
• 8: MAIN_BATT_VOLTAGE
• 9: CURRENT_DRAW
• 10: MAH_DRAWN
• 11: RSSI_VALUE
• 12: ALTITUDE
• 13: NUMERICAL_VARIO
• 14: (unused) FLYMODE
• 15: (unused) ESC_TMP
• 16: (unused) PITCH_ANGLE
• 17: (unused) ROLL_ANGLE
• 18: CROSSHAIRS
• 19: AVG_CELL_VOLTAGE
• 20: (unused) HORIZON_SIDEBARS
• 21: POWER

Reboot	minValue	maxValue	increment	default	unit
	0	4194303		16383

PWM Outputs

PWM_SBUS_MODE (INT32)

S.BUS out.

Set to 1 to enable S.BUS version 1 output instead of RSSI.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

THR_MDL_FAC (FLOAT)

Thrust to motor control signal model parameter.

Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.1	0.0

Payload Deliverer

PD_GRIPPER_EN (INT32)

Enable Gripper actuation in Payload Deliverer.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

PD_GRIPPER_TO (FLOAT)

Timeout for successful gripper actuation acknowledgement.

Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action

Reboot	minValue	maxValue	increment	default	unit
	0			3	s

PD_GRIPPER_TYPE (INT32)

Type of Gripper (Servo, etc.).

Values:

• -1: Undefined
• 0: Servo

Reboot	minValue	maxValue	increment	default	unit
	-1	0		0

Precision Land

PLD_BTOUT (FLOAT)

Landing Target Timeout.

Time after which the landing target is considered lost without any new measurements.

Reboot	minValue	maxValue	increment	default	unit
	0.0	50	0.5	5.0	s

PLD_FAPPR_ALT (FLOAT)

Final approach altitude.

Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.1	0.1	m

PLD_HACC_RAD (FLOAT)

Horizontal acceptance radius.

Start descending if closer above landing target than this.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10	0.1	0.2	m

PLD_MAX_SRCH (INT32)

Maximum number of search attempts.

Maximum number of times to search for the landing target if it is lost during the precision landing.

Reboot	minValue	maxValue	increment	default	unit
	0	100		3

PLD_SRCH_ALT (FLOAT)

Search altitude.

Altitude above home to which to climb when searching for the landing target.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100	0.1	10.0	m

PLD_SRCH_TOUT (FLOAT)

Search timeout.

Time allowed to search for the landing target before falling back to normal landing.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100	0.1	10.0	s

Pure Pursuit

PP_LOOKAHD_GAIN (FLOAT)

Tuning parameter for the pure pursuit controller.

Lower value -> More aggressive controller (beware overshoot/oscillations)

Reboot	minValue	maxValue	increment	default	unit
	0.1	100	0.01	1

PP_LOOKAHD_MAX (FLOAT)

Maximum lookahead distance for the pure pursuit controller.

Reboot	minValue	maxValue	increment	default	unit
	0.1	100	0.01	10	m

PP_LOOKAHD_MIN (FLOAT)

Minimum lookahead distance for the pure pursuit controller.

Reboot	minValue	maxValue	increment	default	unit
	0.1	100	0.01	1	m

RC

RC_CRSF_TEL_EN (INT32)

Crossfire RC telemetry enable.

Crossfire telemetry enable

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

RC_GHST_TEL_EN (INT32)

Ghost RC telemetry enable.

Ghost telemetry enable

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

RC Input

RC_INPUT_PROTO (INT32)

RC input protocol.

Select your RC input protocol or auto to scan.

Values:

• -1: Auto
• 0: None
• 1: PPM
• 2: SBUS
• 3: DSM
• 4: ST24
• 5: SUMD
• 6: CRSF
• 7: GHST

Reboot	minValue	maxValue	increment	default	unit
	-1	7		-1

Radio Calibration

RC10_DZ (FLOAT)

RC channel 10 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC10_MAX (FLOAT)

RC channel 10 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC10_MIN (FLOAT)

RC channel 10 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC10_REV (FLOAT)

RC channel 10 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC10_TRIM (FLOAT)

RC channel 10 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC11_DZ (FLOAT)

RC channel 11 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC11_MAX (FLOAT)

RC channel 11 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC11_MIN (FLOAT)

RC channel 11 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC11_REV (FLOAT)

RC channel 11 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC11_TRIM (FLOAT)

RC channel 11 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC12_DZ (FLOAT)

RC channel 12 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC12_MAX (FLOAT)

RC channel 12 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC12_MIN (FLOAT)

RC channel 12 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC12_REV (FLOAT)

RC channel 12 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC12_TRIM (FLOAT)

RC channel 12 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC13_DZ (FLOAT)

RC channel 13 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC13_MAX (FLOAT)

RC channel 13 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC13_MIN (FLOAT)

RC channel 13 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC13_REV (FLOAT)

RC channel 13 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC13_TRIM (FLOAT)

RC channel 13 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC14_DZ (FLOAT)

RC channel 14 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC14_MAX (FLOAT)

RC channel 14 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC14_MIN (FLOAT)

RC channel 14 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC14_REV (FLOAT)

RC channel 14 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC14_TRIM (FLOAT)

RC channel 14 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC15_DZ (FLOAT)

RC channel 15 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC15_MAX (FLOAT)

RC channel 15 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC15_MIN (FLOAT)

RC channel 15 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC15_REV (FLOAT)

RC channel 15 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC15_TRIM (FLOAT)

RC channel 15 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC16_DZ (FLOAT)

RC channel 16 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC16_MAX (FLOAT)

RC channel 16 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC16_MIN (FLOAT)

RC channel 16 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC16_REV (FLOAT)

RC channel 16 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC16_TRIM (FLOAT)

RC channel 16 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC17_DZ (FLOAT)

RC channel 17 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC17_MAX (FLOAT)

RC channel 17 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC17_MIN (FLOAT)

RC channel 17 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC17_REV (FLOAT)

RC channel 17 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC17_TRIM (FLOAT)

RC channel 17 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC18_DZ (FLOAT)

RC channel 18 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC18_MAX (FLOAT)

RC channel 18 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC18_MIN (FLOAT)

RC channel 18 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC18_REV (FLOAT)

RC channel 18 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC18_TRIM (FLOAT)

RC channel 18 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC1_DZ (FLOAT)

RC channel 1 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0	us

RC1_MAX (FLOAT)

RC channel 1 maximum.

Maximum value for RC channel 1

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000.0	us

RC1_MIN (FLOAT)

RC channel 1 minimum.

Minimum value for RC channel 1

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000.0	us

RC1_REV (FLOAT)

RC channel 1 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC1_TRIM (FLOAT)

RC channel 1 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500.0	us

RC2_DZ (FLOAT)

RC channel 2 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0	us

RC2_MAX (FLOAT)

RC channel 2 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000.0	us

RC2_MIN (FLOAT)

RC channel 2 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000.0	us

RC2_REV (FLOAT)

RC channel 2 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC2_TRIM (FLOAT)

RC channel 2 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500.0	us

RC3_DZ (FLOAT)

RC channel 3 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0	us

RC3_MAX (FLOAT)

RC channel 3 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC3_MIN (FLOAT)

RC channel 3 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC3_REV (FLOAT)

RC channel 3 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC3_TRIM (FLOAT)

RC channel 3 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC4_DZ (FLOAT)

RC channel 4 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0	us

RC4_MAX (FLOAT)

RC channel 4 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC4_MIN (FLOAT)

RC channel 4 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC4_REV (FLOAT)

RC channel 4 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC4_TRIM (FLOAT)

RC channel 4 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC5_DZ (FLOAT)

RC channel 5 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0

RC5_MAX (FLOAT)

RC channel 5 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC5_MIN (FLOAT)

RC channel 5 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC5_REV (FLOAT)

RC channel 5 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC5_TRIM (FLOAT)

RC channel 5 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC6_DZ (FLOAT)

RC channel 6 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0

RC6_MAX (FLOAT)

RC channel 6 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC6_MIN (FLOAT)

RC channel 6 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC6_REV (FLOAT)

RC channel 6 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC6_TRIM (FLOAT)

RC channel 6 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC7_DZ (FLOAT)

RC channel 7 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0

RC7_MAX (FLOAT)

RC channel 7 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC7_MIN (FLOAT)

RC channel 7 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC7_REV (FLOAT)

RC channel 7 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC7_TRIM (FLOAT)

RC channel 7 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC8_DZ (FLOAT)

RC channel 8 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		10.0

RC8_MAX (FLOAT)

RC channel 8 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC8_MIN (FLOAT)

RC channel 8 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC8_REV (FLOAT)

RC channel 8 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC8_TRIM (FLOAT)

RC channel 8 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC9_DZ (FLOAT)

RC channel 9 dead zone.

The +- range of this value around the trim value will be considered as zero.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0		0.0

RC9_MAX (FLOAT)

RC channel 9 maximum.

Maximum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	1500.0	2200.0		2000	us

RC9_MIN (FLOAT)

RC channel 9 minimum.

Minimum value for this channel.

Reboot	minValue	maxValue	increment	default	unit
	800.0	1500.0		1000	us

RC9_REV (FLOAT)

RC channel 9 reverse.

Set to -1 to reverse channel.

Values:

• -1.0: Reverse
• 1.0: Normal

Reboot	minValue	maxValue	increment	default	unit
	-1.0	1.0		1.0

RC9_TRIM (FLOAT)

RC channel 9 trim.

Mid point value

Reboot	minValue	maxValue	increment	default	unit
	800.0	2200.0		1500	us

RC_CHAN_CNT (INT32)

RC channel count.

This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_FAILS_THR (INT32)

Failsafe channel PWM threshold.

Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).

Reboot	minValue	maxValue	increment	default	unit
	0	2200		0	us

RC_MAP_AUX1 (INT32)

AUX1 Passthrough RC channel.

Default function: Camera pitch

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_AUX2 (INT32)

AUX2 Passthrough RC channel.

Default function: Camera roll

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_AUX3 (INT32)

AUX3 Passthrough RC channel.

Default function: Camera azimuth / yaw

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_AUX4 (INT32)

AUX4 Passthrough RC channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_AUX5 (INT32)

AUX5 Passthrough RC channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_AUX6 (INT32)

AUX6 Passthrough RC channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_ENG_MOT (INT32)

RC channel to engage the main motor (for helicopters).

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_FAILSAFE (INT32)

Failsafe channel mapping.

Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_PARAM1 (INT32)

PARAM1 tuning channel.

Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_PARAM2 (INT32)

PARAM2 tuning channel.

Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_PARAM3 (INT32)

PARAM3 tuning channel.

Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_PITCH (INT32)

Pitch control channel mapping.

The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_ROLL (INT32)

Roll control channel mapping.

The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_THROTTLE (INT32)

Throttle control channel mapping.

The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_YAW (INT32)

Yaw control channel mapping.

The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_RSSI_PWM_CHAN (INT32)

PWM input channel that provides RSSI.

0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_RSSI_PWM_MAX (INT32)

Max input value for RSSI reading.

Only used if RC_RSSI_PWM_CHAN > 0

Reboot	minValue	maxValue	increment	default	unit
	0	2000		2000

RC_RSSI_PWM_MIN (INT32)

Min input value for RSSI reading.

Only used if RC_RSSI_PWM_CHAN > 0

Reboot	minValue	maxValue	increment	default	unit
	0	2000		1000

TRIM_PITCH (FLOAT)

Pitch trim.

The trim value is the actuator control value the system needs for straight and level flight.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

TRIM_ROLL (FLOAT)

Roll trim.

The trim value is the actuator control value the system needs for straight and level flight.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

TRIM_YAW (FLOAT)

Yaw trim.

The trim value is the actuator control value the system needs for straight and level flight.

Reboot	minValue	maxValue	increment	default	unit
	-0.5	0.5	0.01	0.0

Radio Switches

RC_ARMSWITCH_TH (FLOAT)

Threshold for the arm switch.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_ENG_MOT_TH (FLOAT)

Threshold for selecting main motor engage.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_GEAR_TH (FLOAT)

Threshold for the landing gear switch.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_KILLSWITCH_TH (FLOAT)

Threshold for the kill switch.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_LOITER_TH (FLOAT)

Threshold for selecting loiter mode.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_MAP_ARM_SW (INT32)

Arm switch channel.

Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_FLAPS (INT32)

Flaps channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_FLTMODE (INT32)

Single channel flight mode selection.

If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_FLTM_BTN (INT32)

Button flight mode selection.

This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.

Bitmask:

• 0: Mask Channel 1 as a mode button
• 1: Mask Channel 2 as a mode button
• 2: Mask Channel 3 as a mode button
• 3: Mask Channel 4 as a mode button
• 4: Mask Channel 5 as a mode button
• 5: Mask Channel 6 as a mode button
• 6: Mask Channel 7 as a mode button
• 7: Mask Channel 8 as a mode button
• 8: Mask Channel 9 as a mode button
• 9: Mask Channel 10 as a mode button
• 10: Mask Channel 11 as a mode button
• 11: Mask Channel 12 as a mode button
• 12: Mask Channel 13 as a mode button
• 13: Mask Channel 14 as a mode button
• 14: Mask Channel 15 as a mode button
• 15: Mask Channel 16 as a mode button
• 16: Mask Channel 17 as a mode button
• 17: Mask Channel 18 as a mode button

Reboot	minValue	maxValue	increment	default	unit
	0	258048		0

RC_MAP_GEAR_SW (INT32)

Landing gear switch channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_KILL_SW (INT32)

Emergency Kill switch channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_LOITER_SW (INT32)

Loiter switch channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_MODE_SW (INT32)

Mode switch channel mapping (deprecated).

This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_OFFB_SW (INT32)

Offboard switch channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_PAY_SW (INT32)

Payload Power Switch RC channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_RETURN_SW (INT32)

Return switch channel.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_MAP_TRANS_SW (INT32)

VTOL transition switch channel mapping.

Values:

• 0: Unassigned
• 1: Channel 1
• 2: Channel 2
• 3: Channel 3
• 4: Channel 4
• 5: Channel 5
• 6: Channel 6
• 7: Channel 7
• 8: Channel 8
• 9: Channel 9
• 10: Channel 10
• 11: Channel 11
• 12: Channel 12
• 13: Channel 13
• 14: Channel 14
• 15: Channel 15
• 16: Channel 16
• 17: Channel 17
• 18: Channel 18

Reboot	minValue	maxValue	increment	default	unit
	0	18		0

RC_OFFB_TH (FLOAT)

Threshold for selecting offboard mode.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_PAYLOAD_TH (FLOAT)

Threshold for selecting payload power switch.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_RETURN_TH (FLOAT)

Threshold for selecting return to launch mode.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

RC_TRANS_TH (FLOAT)

Threshold for the VTOL transition switch.

0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0.75

Return Mode

RTL_CONE_ANG (INT32)

Half-angle of the return mode altitude cone.

Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.

Values:

• 0: No cone, always climb to RTL_RETURN_ALT above destination.
• 25: 25 degrees half cone angle.
• 45: 45 degrees half cone angle.
• 65: 65 degrees half cone angle.
• 80: 80 degrees half cone angle.
• 90: Only climb to at least RTL_DESCEND_ALT above destination.

Reboot	minValue	maxValue	increment	default	unit
	0	90		45	deg

RTL_DESCEND_ALT (FLOAT)

Return mode loiter altitude.

Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.

Reboot	minValue	maxValue	increment	default	unit
	0		0.5	30.	m

RTL_LAND_DELAY (FLOAT)

Return mode delay.

Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

Reboot	minValue	maxValue	increment	default	unit
	-1		0.5	0.0	s

RTL_LOITER_RAD (FLOAT)

Loiter radius for rtl descend.

Set the radius for loitering to a safe altitude for VTOL transition.

Reboot	minValue	maxValue	increment	default	unit
	25		0.5	80.0	m

RTL_MIN_DIST (FLOAT)

Horizontal radius from return point within which special rules for return mode apply.

The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.

Reboot	minValue	maxValue	increment	default	unit
	0.5		0.5	10.0	m

RTL_PLD_MD (INT32)

RTL precision land mode.

Use precision landing when doing an RTL landing phase.

Values:

• 0: No precision landing
• 1: Opportunistic precision landing
• 2: Required precision landing

Reboot	minValue	maxValue	increment	default	unit
				0

RTL_RETURN_ALT (FLOAT)

Return mode return altitude.

Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.

Reboot	minValue	maxValue	increment	default	unit
	0		0.5	60.	m

RTL_TYPE (INT32)

Return type.

Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)

Values:

• 0: Return to closest safe point (home or rally point) via direct path.
• 1: Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.
• 2: Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
• 3: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.

Reboot	minValue	maxValue	increment	default	unit
				0

Return To Land

RTL_APPR_FORCE (INT32)

RTL force approach landing.

Only consider RTL point, if it has an approach defined.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

RTL_TIME_FACTOR (FLOAT)

RTL time estimate safety margin factor.

Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN

Reboot	minValue	maxValue	increment	default	unit
	1.0	2.0	0.1	1.1

RTL_TIME_MARGIN (INT32)

RTL time estimate safety margin offset.

Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN

Reboot	minValue	maxValue	increment	default	unit
	0	3600	1	100	s

Roboclaw

RBCLW_SER_CFG (INT32)

Serial Configuration for Roboclaw Driver.

Configure on which serial port to run Roboclaw 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

Roboclaw Driver

RBCLW_ADDRESS (INT32)

Address of the ESC on the bus.

The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.

Values:

• 128: 0x80
• 129: 0x81
• 130: 0x82
• 131: 0x83
• 132: 0x84
• 133: 0x85
• 134: 0x86
• 135: 0x87

Reboot	minValue	maxValue	increment	default	unit
	128	135		128

RBCLW_COUNTS_REV (INT32)

Number of encoder counts for one wheel revolution.

The default value of 1200 corresponds to the default configuration of the Aion R1 rover.

Reboot	minValue	maxValue	increment	default	unit
	1			1200

Rover Ackermann

RA_ACC_RAD_GAIN (FLOAT)

Tuning parameter for corner cutting.

The geometric ideal acceptance radius is multiplied by this factor to account for kinematic and dynamic effects. Higher value -> The rover starts to cut the corner earlier.

Reboot	minValue	maxValue	increment	default	unit
	1	100	0.01	2

RA_ACC_RAD_MAX (FLOAT)

Maximum acceptance radius for the waypoints.

The controller scales the acceptance radius based on the angle between the previous, current and next waypoint. Higher value -> smoother trajectory at the cost of how close the rover gets to the waypoint (Set to -1 to disable corner cutting).

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	3	m

RA_LAT_ACCEL_I (FLOAT)

Integral gain for lateral acceleration controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.001	0

RA_LAT_ACCEL_P (FLOAT)

Proportional gain for lateral acceleration controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RA_MAX_ACCEL (FLOAT)

Maximum acceleration for the rover.

This is used for the acceleration slew rate.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s^2

RA_MAX_DECEL (FLOAT)

Maximum deceleration for the rover.

This is used for the deceleration slew rate, the feed-forward term for the speed controller during missions and the corner slow down effect. Note: For the corner slow down effect RA_MAX_JERK also has to be set.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s^2

RA_MAX_JERK (FLOAT)

Maximum jerk.

Limit for forwards acc/deceleration change. This is used for the corner slow down effect. Note: RA_MAX_DECEL also has to be set for this to be enabled.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s^3

RA_MAX_LAT_ACCEL (FLOAT)

Maximum allowed lateral acceleration.

This parameter is used to cap the lateral acceleration and map controller inputs to desired lateral acceleration in Acro, Stabilized and Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1000	0.01	0.01	m/s^2

RA_MAX_SPEED (FLOAT)

Maximum allowed speed.

This is the maximum allowed speed setpoint when driving in a mode that uses closed loop speed control.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s

RA_MAX_STR_ANG (FLOAT)

Maximum steering angle.

The maximum angle that the rover can steer

Reboot	minValue	maxValue	increment	default	unit
	0.1	1.5708	0.01	0.5236	rad

RA_MAX_STR_RATE (FLOAT)

Maximum steering rate for the rover.

Reboot	minValue	maxValue	increment	default	unit
	-1	1000	0.01	-1	deg/s

RA_MAX_THR_SPEED (FLOAT)

Speed the rover drives at maximum throttle.

This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s

RA_SPEED_I (FLOAT)

Integral gain for ground speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.001	1

RA_SPEED_P (FLOAT)

Proportional gain for ground speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

RA_WHEEL_BASE (FLOAT)

Wheel base.

Distance from the front to the rear axle

Reboot	minValue	maxValue	increment	default	unit
	0.001	100	0.001	0.5	m

Rover Differential

RD_MAX_ACCEL (FLOAT)

Maximum acceleration.

Maximum acceleration is used to limit the acceleration of the rover

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0.5	m/s^2

RD_MAX_DECEL (FLOAT)

Maximum deceleration.

Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: This disables the slow down effect in auto modes.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s^2

RD_MAX_JERK (FLOAT)

Maximum jerk.

Limit for forwards acc/deceleration change.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0.5	m/s^3

RD_MAX_SPEED (FLOAT)

Maximum speed setpoint.

This parameter is used to cap desired forward speed and map controller inputs to desired speeds in Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1	m/s

RD_MAX_THR_SPD (FLOAT)

Speed the rover drives at maximum throttle.

This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1	m/s

RD_MAX_THR_YAW_R (FLOAT)

Yaw rate turning left/right wheels at max speed in opposite directions.

This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	2	m/s

RD_MAX_YAW_ACCEL (FLOAT)

Maximum allowed yaw acceleration for the rover.

This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1	1000	0.01	-1	deg/s^2

RD_MAX_YAW_RATE (FLOAT)

Maximum allowed yaw rate for the rover.

This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in Acro,Stabilized and Position mode.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1000	0.01	90	deg/s

RD_MISS_SPD_GAIN (FLOAT)

Tuning parameter for the speed reduction during waypoint transition.

The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -> [0, 1]. Higher value -> More speed reduction during waypoint transitions.

Reboot	minValue	maxValue	increment	default	unit
	0.05	100	0.01	1

RD_SPEED_I (FLOAT)

Integral gain for closed loop forward speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RD_SPEED_P (FLOAT)

Proportional gain for closed loop forward speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

RD_TRANS_DRV_TRN (FLOAT)

Yaw error threshhold to switch from driving to spot turning.

This threshold is used for the state machine to switch from driving to turning based on the error between the desired and actual yaw. It is also used as the threshold whether the rover should come to a smooth stop at the next waypoint. This slow down effect is active if the angle between the line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.

Reboot	minValue	maxValue	increment	default	unit
	0.001	3.14159	0.01	0.174533	rad

RD_TRANS_TRN_DRV (FLOAT)

Yaw error threshhold to switch from spot turning to driving.

Reboot	minValue	maxValue	increment	default	unit
	0.001	3.14159	0.01	0.0872665	rad

RD_WHEEL_TRACK (FLOAT)

Wheel track.

Distance from the center of the right wheel to the center of the left wheel

Reboot	minValue	maxValue	increment	default	unit
	0.001	100	0.001	0.5	m

RD_YAW_I (FLOAT)

Integral gain for closed loop yaw controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RD_YAW_P (FLOAT)

Proportional gain for closed loop yaw controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

RD_YAW_RATE_I (FLOAT)

Integral gain for closed loop yaw rate controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RD_YAW_RATE_P (FLOAT)

Proportional gain for closed loop yaw rate controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

Rover Mecanum

RM_MAX_ACCEL (FLOAT)

Maximum acceleration.

Maximum acceleration is used to limit the acceleration of the rover

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0.5	m/s^2

RM_MAX_DECEL (FLOAT)

Maximum deceleration.

Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: Disabling the deceleration limit also disables the slow down effect in auto modes.

Reboot	minValue	maxValue	increment	default	unit
	-1	100	0.01	-1	m/s^2

RM_MAX_JERK (FLOAT)

Maximum jerk.

Limit for forwards acc/deceleration change.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0.5	m/s^3

RM_MAX_SPEED (FLOAT)

Maximum speed the rover is allowed to drive.

This parameter is used cap the maximum speed the rover is allowed to drive and to map stick inputs to desired speeds in position mode.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	7	m/s

RM_MAX_THR_SPD (FLOAT)

Speed the rover drives at maximum throttle.

This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1	m/s

RM_MAX_THR_YAW_R (FLOAT)

Yaw rate turning left/right wheels at max speed in opposite directions.

This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	2	m/s

RM_MAX_YAW_ACCEL (FLOAT)

Maximum allowed yaw acceleration for the rover.

This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.

Reboot	minValue	maxValue	increment	default	unit
	-1	1000	0.01	-1	deg/s^2

RM_MAX_YAW_RATE (FLOAT)

Maximum allowed yaw rate for the rover.

This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.

Reboot	minValue	maxValue	increment	default	unit
	0.01	1000	0.01	90	deg/s

RM_MISS_VEL_GAIN (FLOAT)

Tuning parameter for the velocity reduction during waypoint transition.

The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -> [0, 1]. Higher value -> More velocity reduction during cornering.

Reboot	minValue	maxValue	increment	default	unit
	0.05	100	0.01	1

RM_SPEED_I (FLOAT)

Integral gain for ground speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RM_SPEED_P (FLOAT)

Proportional gain for speed controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

RM_WHEEL_TRACK (FLOAT)

Wheel track.

Distance from the center of the right wheels to the center of the left wheels.

Reboot	minValue	maxValue	increment	default	unit
	0.001	100	0.001	0.5	m

RM_YAW_I (FLOAT)

Integral gain for closed loop yaw controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0.1

RM_YAW_P (FLOAT)

Proportional gain for closed loop yaw controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

RM_YAW_RATE_I (FLOAT)

Integral gain for the closed-loop yaw rate controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	0

RM_YAW_RATE_P (FLOAT)

Proportional gain for the closed-loop yaw rate controller.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.01	1

Rover Position Control

GND_L1_DAMPING (FLOAT)

L1 damping.

Damping factor for L1 control.

Reboot	minValue	maxValue	increment	default	unit
	0.6	0.9	0.05	0.75

GND_L1_DIST (FLOAT)

L1 distance.

This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).

Reboot	minValue	maxValue	increment	default	unit
	1.0	50.0	0.1	1.0	m

GND_L1_PERIOD (FLOAT)

L1 period.

This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.

Reboot	minValue	maxValue	increment	default	unit
	0.5	50.0	0.5	5.0	m

GND_MAN_Y_MAX (FLOAT)

Max manual yaw rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0	400		150.0	deg/s

GND_MAX_ANG (FLOAT)

Maximum turn angle for Ackerman steering.

At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.

Reboot	minValue	maxValue	increment	default	unit
	0.0	3.14159	0.01	0.7854	rad

GND_SPEED_D (FLOAT)

Speed proportional gain.

This is the derivative gain for the speed closed loop controller

Reboot	minValue	maxValue	increment	default	unit
	0.00	50.0	0.005	0.001	%m/s

GND_SPEED_I (FLOAT)

Speed Integral gain.

This is the integral gain for the speed closed loop controller

Reboot	minValue	maxValue	increment	default	unit
	0.00	50.0	0.005	3.0	%m/s

GND_SPEED_IMAX (FLOAT)

Speed integral maximum value.

This is the maxim value the integral can reach to prevent wind-up.

Reboot	minValue	maxValue	increment	default	unit
	0.005	50.0	0.005	1.0	%m/s

GND_SPEED_MAX (FLOAT)

Maximum ground speed.

Reboot	minValue	maxValue	increment	default	unit
	0.0	40	0.5	10.0	m/s

GND_SPEED_P (FLOAT)

Speed proportional gain.

This is the proportional gain for the speed closed loop controller

Reboot	minValue	maxValue	increment	default	unit
	0.005	50.0	0.005	2.0	%m/s

GND_SPEED_THR_SC (FLOAT)

Speed to throttle scaler.

This is a gain to map the speed control output to the throttle linearly.

Reboot	minValue	maxValue	increment	default	unit
	0.005	50.0	0.005	1.0	%m/s

GND_SPEED_TRIM (FLOAT)

Trim ground speed.

Reboot	minValue	maxValue	increment	default	unit
	0.0	40	0.5	3.0	m/s

GND_SP_CTRL_MODE (INT32)

Control mode for speed.

This allows the user to choose between closed loop gps speed or open loop cruise throttle speed

Values:

• 0: open loop control
• 1: close the loop with gps speed

Reboot	minValue	maxValue	increment	default	unit
	0	1		1

GND_THR_CRUISE (FLOAT)

Cruise throttle.

This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.1	norm

GND_THR_MAX (FLOAT)

Throttle limit max.

This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.3	norm

GND_THR_MIN (FLOAT)

Throttle limit min.

This is the minimum throttle % that can be used by the controller. Set to 0 for rover

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.0	norm

GND_WHEEL_BASE (FLOAT)

Distance from front axle to rear axle.

A value of 0.31 is typical for 1/10 RC cars.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.01	0.31	m

Runway Takeoff

RWTO_HDG (INT32)

Specifies which heading should be held during the runway takeoff ground roll.

0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)

Values:

• 0: Airframe
• 1: Runway

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

RWTO_MAX_THR (FLOAT)

Max throttle during runway takeoff.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0	norm

RWTO_NPFG_PERIOD (FLOAT)

NPFG period while steering on runway.

Reboot	minValue	maxValue	increment	default	unit
	1.0	100.0	0.1	5.0	s

RWTO_NUDGE (INT32)

Enable use of yaw stick for nudging the wheel during runway ground roll.

This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

RWTO_PSP (FLOAT)

Pitch setpoint during taxi / before takeoff rotation airspeed is reached.

A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.

Reboot	minValue	maxValue	increment	default	unit
	-10.0	20.0	0.5	0.0	deg

RWTO_RAMP_TIME (FLOAT)

Throttle ramp up time for runway takeoff.

Reboot	minValue	maxValue	increment	default	unit
	1.0	15.0	0.1	2.0	s

RWTO_ROT_AIRSPD (FLOAT)

Takeoff rotation airspeed.

The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)

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

RWTO_ROT_TIME (FLOAT)

Takeoff rotation time.

This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation

Reboot	minValue	maxValue	increment	default	unit
	0.1		0.1	1.0	s

RWTO_TKOFF (INT32)

Runway takeoff with landing gear.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

SD Logging

SDLOG_ALGORITHM (INT32)

Logfile Encryption algorithm.

Selects the algorithm used for logfile encryption

Values:

• 0: Disabled
• 2: XChaCha20

Reboot	minValue	maxValue	increment	default	unit
				2

SDLOG_BOOT_BAT (INT32)

Battery-only Logging.

When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

SDLOG_DIRS_MAX (INT32)

Maximum number of log directories to keep.

If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		0

SDLOG_EXCH_KEY (INT32)

Logfile Encryption key exchange key.

If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.

Reboot	minValue	maxValue	increment	default	unit
	0	255		1

SDLOG_KEY (INT32)

Logfile Encryption key index.

Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY

Reboot	minValue	maxValue	increment	default	unit
	0	255		2

SDLOG_MISSION (INT32)

Mission Log.

If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).

Values:

• 0: Disabled
• 1: All mission messages
• 2: Geotagging messages

Reboot	minValue	maxValue	increment	default	unit
✓				0

SDLOG_MODE (INT32)

Logging Mode.

Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.

Values:

• -1: disabled
• 0: when armed until disarm (default)
• 1: from boot until disarm
• 2: from boot until shutdown
• 3: while manual input AUX1 >30%
• 4: from 1st armed until shutdown

Reboot	minValue	maxValue	increment	default	unit
✓				0

SDLOG_PROFILE (INT32)

Logging topic profile (integer bitmask).

This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)

Bitmask:

• 0: Default set (general log analysis)
• 1: Estimator replay (EKF2)
• 2: Thermal calibration
• 3: System identification
• 4: High rate
• 5: Debug
• 6: Sensor comparison
• 7: Computer Vision and Avoidance
• 8: Raw FIFO high-rate IMU (Gyro)
• 9: Raw FIFO high-rate IMU (Accel)
• 10: Mavlink tunnel message logging

Reboot	minValue	maxValue	increment	default	unit
✓	0	2047		1

SDLOG_UTC_OFFSET (INT32)

UTC offset (unit: min).

the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets

Reboot	minValue	maxValue	increment	default	unit
	-1000	1000		0	min

SDLOG_UUID (INT32)

Log UUID.

If set to 1, add an ID to the log, which uniquely identifies the vehicle

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SITL

SIM_BAT_DRAIN (FLOAT)

Simulator Battery drain interval.

Reboot	minValue	maxValue	increment	default	unit
	1	86400	1	60	s

SIM_BAT_ENABLE (INT32)

Simulator Battery enabled.

Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SIM_BAT_MIN_PCT (FLOAT)

Simulator Battery minimal percentage.

Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.

Reboot	minValue	maxValue	increment	default	unit
	0	100	0.1	50.0	%

Sensor Calibration

CAL_ACC0_ID (INT32)

Accelerometer 0 calibration device ID.

Device ID of the accelerometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_ACC0_PRIO (INT32)

Accelerometer 0 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_ACC0_ROT (INT32)

Accelerometer 0 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_ACC0_XOFF (FLOAT)

Accelerometer 0 X-axis offset.

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

CAL_ACC0_XSCALE (FLOAT)

Accelerometer 0 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC0_YOFF (FLOAT)

Accelerometer 0 Y-axis offset.

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

CAL_ACC0_YSCALE (FLOAT)

Accelerometer 0 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC0_ZOFF (FLOAT)

Accelerometer 0 Z-axis offset.

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

CAL_ACC0_ZSCALE (FLOAT)

Accelerometer 0 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC1_ID (INT32)

Accelerometer 1 calibration device ID.

Device ID of the accelerometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_ACC1_PRIO (INT32)

Accelerometer 1 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_ACC1_ROT (INT32)

Accelerometer 1 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_ACC1_XOFF (FLOAT)

Accelerometer 1 X-axis offset.

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

CAL_ACC1_XSCALE (FLOAT)

Accelerometer 1 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC1_YOFF (FLOAT)

Accelerometer 1 Y-axis offset.

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

CAL_ACC1_YSCALE (FLOAT)

Accelerometer 1 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC1_ZOFF (FLOAT)

Accelerometer 1 Z-axis offset.

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

CAL_ACC1_ZSCALE (FLOAT)

Accelerometer 1 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC2_ID (INT32)

Accelerometer 2 calibration device ID.

Device ID of the accelerometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_ACC2_PRIO (INT32)

Accelerometer 2 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_ACC2_ROT (INT32)

Accelerometer 2 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_ACC2_XOFF (FLOAT)

Accelerometer 2 X-axis offset.

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

CAL_ACC2_XSCALE (FLOAT)

Accelerometer 2 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC2_YOFF (FLOAT)

Accelerometer 2 Y-axis offset.

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

CAL_ACC2_YSCALE (FLOAT)

Accelerometer 2 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC2_ZOFF (FLOAT)

Accelerometer 2 Z-axis offset.

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

CAL_ACC2_ZSCALE (FLOAT)

Accelerometer 2 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC3_ID (INT32)

Accelerometer 3 calibration device ID.

Device ID of the accelerometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_ACC3_PRIO (INT32)

Accelerometer 3 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_ACC3_ROT (INT32)

Accelerometer 3 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_ACC3_XOFF (FLOAT)

Accelerometer 3 X-axis offset.

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

CAL_ACC3_XSCALE (FLOAT)

Accelerometer 3 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC3_YOFF (FLOAT)

Accelerometer 3 Y-axis offset.

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

CAL_ACC3_YSCALE (FLOAT)

Accelerometer 3 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_ACC3_ZOFF (FLOAT)

Accelerometer 3 Z-axis offset.

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

CAL_ACC3_ZSCALE (FLOAT)

Accelerometer 3 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_BARO0_ID (INT32)

Barometer 0 calibration device ID.

Device ID of the barometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_BARO0_OFF (FLOAT)

Barometer 0 offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_BARO0_PRIO (INT32)

Barometer 0 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_BARO1_ID (INT32)

Barometer 1 calibration device ID.

Device ID of the barometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_BARO1_OFF (FLOAT)

Barometer 1 offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_BARO1_PRIO (INT32)

Barometer 1 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_BARO2_ID (INT32)

Barometer 2 calibration device ID.

Device ID of the barometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_BARO2_OFF (FLOAT)

Barometer 2 offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_BARO2_PRIO (INT32)

Barometer 2 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_BARO3_ID (INT32)

Barometer 3 calibration device ID.

Device ID of the barometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_BARO3_OFF (FLOAT)

Barometer 3 offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_BARO3_PRIO (INT32)

Barometer 3 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_GYRO0_ID (INT32)

Gyroscope 0 calibration device ID.

Device ID of the gyroscope this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_GYRO0_PRIO (INT32)

Gyroscope 0 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_GYRO0_ROT (INT32)

Gyroscope 0 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_GYRO0_XOFF (FLOAT)

Gyroscope 0 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO0_YOFF (FLOAT)

Gyroscope 0 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO0_ZOFF (FLOAT)

Gyroscope 0 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO1_ID (INT32)

Gyroscope 1 calibration device ID.

Device ID of the gyroscope this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_GYRO1_PRIO (INT32)

Gyroscope 1 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_GYRO1_ROT (INT32)

Gyroscope 1 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_GYRO1_XOFF (FLOAT)

Gyroscope 1 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO1_YOFF (FLOAT)

Gyroscope 1 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO1_ZOFF (FLOAT)

Gyroscope 1 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO2_ID (INT32)

Gyroscope 2 calibration device ID.

Device ID of the gyroscope this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_GYRO2_PRIO (INT32)

Gyroscope 2 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_GYRO2_ROT (INT32)

Gyroscope 2 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_GYRO2_XOFF (FLOAT)

Gyroscope 2 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO2_YOFF (FLOAT)

Gyroscope 2 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO2_ZOFF (FLOAT)

Gyroscope 2 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO3_ID (INT32)

Gyroscope 3 calibration device ID.

Device ID of the gyroscope this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_GYRO3_PRIO (INT32)

Gyroscope 3 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_GYRO3_ROT (INT32)

Gyroscope 3 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
	-1	40		-1

CAL_GYRO3_XOFF (FLOAT)

Gyroscope 3 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO3_YOFF (FLOAT)

Gyroscope 3 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_GYRO3_ZOFF (FLOAT)

Gyroscope 3 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	rad/s

CAL_MAG0_ID (INT32)

Magnetometer 0 calibration device ID.

Device ID of the magnetometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_MAG0_PITCH (FLOAT)

Magnetometer 0 Custom Euler Pitch Angle.

Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG0_PRIO (INT32)

Magnetometer 0 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_MAG0_ROLL (FLOAT)

Magnetometer 0 Custom Euler Roll Angle.

Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG0_ROT (INT32)

Magnetometer 0 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°
• 100: Custom Euler Angle

Reboot	minValue	maxValue	increment	default	unit
	-1	100		-1

CAL_MAG0_XCOMP (FLOAT)

Magnetometer 0 X Axis throttle compensation.

Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_XODIAG (FLOAT)

Magnetometer 0 X-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_XOFF (FLOAT)

Magnetometer 0 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG0_XSCALE (FLOAT)

Magnetometer 0 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG0_YAW (FLOAT)

Magnetometer 0 Custom Euler Yaw Angle.

Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG0_YCOMP (FLOAT)

Magnetometer 0 Y Axis throttle compensation.

Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_YODIAG (FLOAT)

Magnetometer 0 Y-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_YOFF (FLOAT)

Magnetometer 0 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG0_YSCALE (FLOAT)

Magnetometer 0 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG0_ZCOMP (FLOAT)

Magnetometer 0 Z Axis throttle compensation.

Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_ZODIAG (FLOAT)

Magnetometer 0 Z-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG0_ZOFF (FLOAT)

Magnetometer 0 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG0_ZSCALE (FLOAT)

Magnetometer 0 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG1_ID (INT32)

Magnetometer 1 calibration device ID.

Device ID of the magnetometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_MAG1_PITCH (FLOAT)

Magnetometer 1 Custom Euler Pitch Angle.

Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG1_PRIO (INT32)

Magnetometer 1 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_MAG1_ROLL (FLOAT)

Magnetometer 1 Custom Euler Roll Angle.

Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG1_ROT (INT32)

Magnetometer 1 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°
• 100: Custom Euler Angle

Reboot	minValue	maxValue	increment	default	unit
	-1	100		-1

CAL_MAG1_XCOMP (FLOAT)

Magnetometer 1 X Axis throttle compensation.

Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_XODIAG (FLOAT)

Magnetometer 1 X-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_XOFF (FLOAT)

Magnetometer 1 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG1_XSCALE (FLOAT)

Magnetometer 1 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG1_YAW (FLOAT)

Magnetometer 1 Custom Euler Yaw Angle.

Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG1_YCOMP (FLOAT)

Magnetometer 1 Y Axis throttle compensation.

Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_YODIAG (FLOAT)

Magnetometer 1 Y-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_YOFF (FLOAT)

Magnetometer 1 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG1_YSCALE (FLOAT)

Magnetometer 1 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG1_ZCOMP (FLOAT)

Magnetometer 1 Z Axis throttle compensation.

Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_ZODIAG (FLOAT)

Magnetometer 1 Z-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG1_ZOFF (FLOAT)

Magnetometer 1 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG1_ZSCALE (FLOAT)

Magnetometer 1 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG2_ID (INT32)

Magnetometer 2 calibration device ID.

Device ID of the magnetometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_MAG2_PITCH (FLOAT)

Magnetometer 2 Custom Euler Pitch Angle.

Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG2_PRIO (INT32)

Magnetometer 2 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_MAG2_ROLL (FLOAT)

Magnetometer 2 Custom Euler Roll Angle.

Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG2_ROT (INT32)

Magnetometer 2 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°
• 100: Custom Euler Angle

Reboot	minValue	maxValue	increment	default	unit
	-1	100		-1

CAL_MAG2_XCOMP (FLOAT)

Magnetometer 2 X Axis throttle compensation.

Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_XODIAG (FLOAT)

Magnetometer 2 X-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_XOFF (FLOAT)

Magnetometer 2 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG2_XSCALE (FLOAT)

Magnetometer 2 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG2_YAW (FLOAT)

Magnetometer 2 Custom Euler Yaw Angle.

Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG2_YCOMP (FLOAT)

Magnetometer 2 Y Axis throttle compensation.

Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_YODIAG (FLOAT)

Magnetometer 2 Y-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_YOFF (FLOAT)

Magnetometer 2 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG2_YSCALE (FLOAT)

Magnetometer 2 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG2_ZCOMP (FLOAT)

Magnetometer 2 Z Axis throttle compensation.

Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_ZODIAG (FLOAT)

Magnetometer 2 Z-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG2_ZOFF (FLOAT)

Magnetometer 2 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG2_ZSCALE (FLOAT)

Magnetometer 2 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG3_ID (INT32)

Magnetometer 3 calibration device ID.

Device ID of the magnetometer this calibration applies to.

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_MAG3_PITCH (FLOAT)

Magnetometer 3 Custom Euler Pitch Angle.

Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG3_PRIO (INT32)

Magnetometer 3 priority.

Values:

• -1: Uninitialized
• 0: Disabled
• 1: Min
• 25: Low
• 50: Medium (Default)
• 75: High
• 100: Max

Reboot	minValue	maxValue	increment	default	unit
				-1

CAL_MAG3_ROLL (FLOAT)

Magnetometer 3 Custom Euler Roll Angle.

Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG3_ROT (INT32)

Magnetometer 3 rotation relative to airframe.

An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.

Values:

• -1: Internal
• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°
• 100: Custom Euler Angle

Reboot	minValue	maxValue	increment	default	unit
	-1	100		-1

CAL_MAG3_XCOMP (FLOAT)

Magnetometer 3 X Axis throttle compensation.

Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_XODIAG (FLOAT)

Magnetometer 3 X-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_XOFF (FLOAT)

Magnetometer 3 X-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG3_XSCALE (FLOAT)

Magnetometer 3 X-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG3_YAW (FLOAT)

Magnetometer 3 Custom Euler Yaw Angle.

Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

Reboot	minValue	maxValue	increment	default	unit
	-180	180		0.0	deg

CAL_MAG3_YCOMP (FLOAT)

Magnetometer 3 Y Axis throttle compensation.

Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_YODIAG (FLOAT)

Magnetometer 3 Y-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_YOFF (FLOAT)

Magnetometer 3 Y-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG3_YSCALE (FLOAT)

Magnetometer 3 Y-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG3_ZCOMP (FLOAT)

Magnetometer 3 Z Axis throttle compensation.

Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_ZODIAG (FLOAT)

Magnetometer 3 Z-axis off diagonal scale factor.

Reboot	minValue	maxValue	increment	default	unit
				0.0

CAL_MAG3_ZOFF (FLOAT)

Magnetometer 3 Z-axis offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

CAL_MAG3_ZSCALE (FLOAT)

Magnetometer 3 Z-axis scaling factor.

Reboot	minValue	maxValue	increment	default	unit
	0.1	3.0		1.0

CAL_MAG_COMP_TYP (INT32)

Type of magnetometer compensation.

Values:

• 0: Disabled
• 1: Throttle-based compensation
• 2: Current-based compensation (battery_status instance 0)
• 3: Current-based compensation (battery_status instance 1)

Reboot	minValue	maxValue	increment	default	unit
				0

SENS_DPRES_ANSC (FLOAT)

Differential pressure sensor analog scaling.

Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.

Reboot	minValue	maxValue	increment	default	unit
				0

SENS_DPRES_OFF (FLOAT)

Differential pressure sensor offset.

The offset (zero-reading) in Pascal

Reboot	minValue	maxValue	increment	default	unit
				0.0

SENS_FLOW_MAXHGT (FLOAT)

Maximum height above ground when reliant on optical flow.

This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.

Reboot	minValue	maxValue	increment	default	unit
	1.0	100.0	0.1	100.	m

SENS_FLOW_MAXR (FLOAT)

Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.

Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.

Reboot	minValue	maxValue	increment	default	unit
	1.0			8.	rad/s

SENS_FLOW_MINHGT (FLOAT)

Minimum height above ground when reliant on optical flow.

This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.1	0.08	m

Sensors

ADC_ADS1115_EN (INT32)

Enable external ADS1115 ADC.

If enabled, the internal ADC is not used.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

BAT1_C_MULT (FLOAT)

Capacity/current multiplier for high-current capable SMBUS battery.

Reboot	minValue	maxValue	increment	default	unit
✓				1.0

BAT1_SMBUS_MODEL (INT32)

Battery device model.

Values:

• 0: AutoDetect
• 1: BQ40Z50 based
• 2: BQ40Z80 based

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

BATMON_ADDR_DFLT (INT32)

I2C address for BatMon battery 1.

Reboot	minValue	maxValue	increment	default	unit
✓				11

BATMON_DRIVER_EN (INT32)

Parameter to enable BatMon module.

Values:

• 0: Disabled
• 1: Start on default I2C addr(BATMON_ADDR_DFLT)
• 2: Autodetect I2C address (TODO)

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

CAL_AIR_CMODEL (INT32)

Airspeed sensor compensation model for the SDP3x.

Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.

Values:

• 0: Model with Pitot
• 1: Model without Pitot (1.5 mm tubes)
• 2: Tube Pressure Drop

Reboot	minValue	maxValue	increment	default	unit
				0

CAL_AIR_TUBED_MM (FLOAT)

Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation.

Reboot	minValue	maxValue	increment	default	unit
	1.5	100		1.5	mm

CAL_AIR_TUBELEN (FLOAT)

Airspeed sensor tube length.

See the CAL_AIR_CMODEL explanation on how this parameter should be set.

Reboot	minValue	maxValue	increment	default	unit
	0.01	2.00		0.2	m

CAL_MAG_SIDES (INT32)

For legacy QGC support only.

Use SENS_MAG_SIDES instead

Reboot	minValue	maxValue	increment	default	unit
				63

IMU_ACCEL_CUTOFF (FLOAT)

Low pass filter cutoff frequency for accel.

The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		30.0	Hz

IMU_DGYRO_CUTOFF (FLOAT)

Cutoff frequency for angular acceleration (D-Term filter).

The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		30.0	Hz

IMU_GYRO_CAL_EN (INT32)

IMU gyro auto calibration enable.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

IMU_GYRO_CUTOFF (FLOAT)

Low pass filter cutoff frequency for gyro.

The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		40.0	Hz

IMU_GYRO_DNF_BW (FLOAT)

IMU gyro ESC notch filter bandwidth.

Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.

Reboot	minValue	maxValue	increment	default	unit
	5	30		15.	Hz

IMU_GYRO_DNF_EN (INT32)

IMU gyro dynamic notch filtering.

Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).

Bitmask:

• 0: ESC RPM
• 1: FFT

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

IMU_GYRO_DNF_HMC (INT32)

IMU gyro dynamic notch filter harmonics.

ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.

Reboot	minValue	maxValue	increment	default	unit
	1	7		3

IMU_GYRO_DNF_MIN (FLOAT)

IMU gyro dynamic notch filter minimum frequency.

Minimum notch filter frequency in Hz.

Reboot	minValue	maxValue	increment	default	unit
				25.	Hz

IMU_GYRO_FFT_EN (INT32)

IMU gyro FFT enable.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

IMU_GYRO_FFT_LEN (INT32)

IMU gyro FFT length.

Values:

• 256: 256
• 512: 512
• 1024: 1024
• 4096: 4096

Reboot	minValue	maxValue	increment	default	unit
✓				512	Hz

IMU_GYRO_FFT_MAX (FLOAT)

IMU gyro FFT maximum frequency.

Reboot	minValue	maxValue	increment	default	unit
✓	1	1000		150.	Hz

IMU_GYRO_FFT_MIN (FLOAT)

IMU gyro FFT minimum frequency.

Reboot	minValue	maxValue	increment	default	unit
✓	1	1000		30.	Hz

IMU_GYRO_FFT_SNR (FLOAT)

IMU gyro FFT SNR.

Reboot	minValue	maxValue	increment	default	unit
	1	30		10.

IMU_GYRO_NF0_BW (FLOAT)

Notch filter bandwidth for gyro.

The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

Reboot	minValue	maxValue	increment	default	unit
✓	0	100		20.0	Hz

IMU_GYRO_NF0_FRQ (FLOAT)

Notch filter frequency for gyro.

The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		0.0	Hz

IMU_GYRO_NF1_BW (FLOAT)

Notch filter 1 bandwidth for gyro.

The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

Reboot	minValue	maxValue	increment	default	unit
✓	0	100		20.0	Hz

IMU_GYRO_NF1_FRQ (FLOAT)

Notch filter 2 frequency for gyro.

The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

Reboot	minValue	maxValue	increment	default	unit
✓	0	1000		0.0	Hz

IMU_GYRO_RATEMAX (INT32)

Gyro control data maximum publication rate (inner loop rate).

The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.

Values:

• 100: 100 Hz
• 250: 250 Hz
• 400: 400 Hz
• 800: 800 Hz
• 1000: 1000 Hz
• 2000: 2000 Hz

Reboot	minValue	maxValue	increment	default	unit
✓	100	2000		400	Hz

IMU_INTEG_RATE (INT32)

IMU integration rate.

The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).

Values:

• 100: 100 Hz
• 200: 200 Hz
• 250: 250 Hz
• 400: 400 Hz

Reboot	minValue	maxValue	increment	default	unit
✓	100	1000		200	Hz

INA220_CONFIG (INT32)

INA220 Power Monitor Config.

Reboot	minValue	maxValue	increment	default	unit
	0	65535	1	8607

INA220_CUR_BAT (FLOAT)

INA220 Power Monitor Battery Max Current.

Reboot	minValue	maxValue	increment	default	unit
	0.1	500.0	0.1	164.0

INA220_CUR_REG (FLOAT)

INA220 Power Monitor Regulator Max Current.

Reboot	minValue	maxValue	increment	default	unit
	0.1	500.0	0.1	164.0

INA220_SHUNT_BAT (FLOAT)

INA220 Power Monitor Battery Shunt.

Reboot	minValue	maxValue	increment	default	unit
	0.000000001	0.1	.000000001	0.0005

INA220_SHUNT_REG (FLOAT)

INA220 Power Monitor Regulator Shunt.

Reboot	minValue	maxValue	increment	default	unit
	0.000000001	0.1	.000000001	0.0005

INA226_CONFIG (INT32)

INA226 Power Monitor Config.

Reboot	minValue	maxValue	increment	default	unit
	0	65535	1	18139

INA226_CURRENT (FLOAT)

INA226 Power Monitor Max Current.

Reboot	minValue	maxValue	increment	default	unit
	0.1	200.0	0.1	164.0

INA226_SHUNT (FLOAT)

INA226 Power Monitor Shunt.

Reboot	minValue	maxValue	increment	default	unit
	0.000000001	0.1	.000000001	0.0005

INA228_CONFIG (INT32)

INA228 Power Monitor Config.

Reboot	minValue	maxValue	increment	default	unit
	0	65535	1	63779

INA228_CURRENT (FLOAT)

INA228 Power Monitor Max Current.

Reboot	minValue	maxValue	increment	default	unit
	0.1	327.68	0.1	327.68

INA228_SHUNT (FLOAT)

INA228 Power Monitor Shunt.

Reboot	minValue	maxValue	increment	default	unit
	0.000000001	0.1	.000000001	0.0005

INA238_CURRENT (FLOAT)

INA238 Power Monitor Max Current.

Reboot	minValue	maxValue	increment	default	unit
	0.1	327.68	0.1	327.68

INA238_SHUNT (FLOAT)

INA238 Power Monitor Shunt.

Reboot	minValue	maxValue	increment	default	unit
	0.000000001	0.1	.000000001	0.0003

PCF8583_MAGNET (INT32)

PCF8583 rotorfreq (i2c) pulse count.

Nmumber of signals per rotation of actuator

Reboot	minValue	maxValue	increment	default	unit
✓	1			2

PCF8583_POOL (INT32)

PCF8583 rotorfreq (i2c) pool interval.

Determines how often the sensor is read out.

Reboot	minValue	maxValue	increment	default	unit
✓				1000000	us

PCF8583_RESET (INT32)

PCF8583 rotorfreq (i2c) pulse reset value.

Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.

Reboot	minValue	maxValue	increment	default	unit
✓				500000

SENS_AFBR_HYSTER (INT32)

AFBR Rangefinder Short/Long Range Threshold Hysteresis.

This parameter defines the hysteresis for switching between short and long range mode.

Reboot	minValue	maxValue	increment	default	unit
	1	10		1	m

SENS_AFBR_L_RATE (INT32)

AFBR Rangefinder Long Range Rate.

This parameter defines measurement rate of the AFBR Rangefinder in long range mode.

Reboot	minValue	maxValue	increment	default	unit
	1	100		25

SENS_AFBR_MODE (INT32)

AFBR Rangefinder Mode.

This parameter defines the mode of the AFBR Rangefinder.

Values:

• 0: Short Range Mode
• 1: Long Range Mode
• 2: High Speed Short Range Mode
• 3: High Speed Long Range Mode

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		0

SENS_AFBR_S_RATE (INT32)

AFBR Rangefinder Short Range Rate.

This parameter defines measurement rate of the AFBR Rangefinder in short range mode.

Reboot	minValue	maxValue	increment	default	unit
	1	100		50

SENS_AFBR_THRESH (INT32)

AFBR Rangefinder Short/Long Range Threshold.

This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.

Reboot	minValue	maxValue	increment	default	unit
	1	50		4	m

SENS_BARO_QNH (FLOAT)

QNH for barometer.

Reboot	minValue	maxValue	increment	default	unit
	500	1500		1013.25	hPa

SENS_BARO_RATE (FLOAT)

Baro max rate.

Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.

Reboot	minValue	maxValue	increment	default	unit
	1	200		20.0	Hz

SENS_BOARD_ROT (INT32)

Board rotation.

This parameter defines the rotation of the FMU board relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°
• 8: Roll 180°
• 9: Roll 180°, Yaw 45°
• 10: Roll 180°, Yaw 90°
• 11: Roll 180°, Yaw 135°
• 12: Pitch 180°
• 13: Roll 180°, Yaw 225°
• 14: Roll 180°, Yaw 270°
• 15: Roll 180°, Yaw 315°
• 16: Roll 90°
• 17: Roll 90°, Yaw 45°
• 18: Roll 90°, Yaw 90°
• 19: Roll 90°, Yaw 135°
• 20: Roll 270°
• 21: Roll 270°, Yaw 45°
• 22: Roll 270°, Yaw 90°
• 23: Roll 270°, Yaw 135°
• 24: Pitch 90°
• 25: Pitch 270°
• 26: Pitch 180°, Yaw 90°
• 27: Pitch 180°, Yaw 270°
• 28: Roll 90°, Pitch 90°
• 29: Roll 180°, Pitch 90°
• 30: Roll 270°, Pitch 90°
• 31: Roll 90°, Pitch 180°
• 32: Roll 270°, Pitch 180°
• 33: Roll 90°, Pitch 270°
• 34: Roll 180°, Pitch 270°
• 35: Roll 270°, Pitch 270°
• 36: Roll 90°, Pitch 180°, Yaw 90°
• 37: Roll 90°, Yaw 270°
• 38: Roll 90°, Pitch 68°, Yaw 293°
• 39: Pitch 315°
• 40: Roll 90°, Pitch 315°

Reboot	minValue	maxValue	increment	default	unit
✓	-1	40		0

SENS_BOARD_X_OFF (FLOAT)

Board rotation X (Roll) offset.

This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.

Reboot	minValue	maxValue	increment	default	unit
				0.0	deg

SENS_BOARD_Y_OFF (FLOAT)

Board rotation Y (Pitch) offset.

This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.

Reboot	minValue	maxValue	increment	default	unit
				0.0	deg

SENS_BOARD_Z_OFF (FLOAT)

Board rotation Z (YAW) offset.

This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.

Reboot	minValue	maxValue	increment	default	unit
				0.0	deg

SENS_CM8JL65_CFG (INT32)

Serial Configuration for Lanbao PSK-CM8JL65-CC5.

Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.

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

SENS_CM8JL65_R_0 (INT32)

Distance Sensor Rotation.

Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum

Values:

• 0: ROTATION_FORWARD_FACING
• 2: ROTATION_RIGHT_FACING
• 4: ROTATION_BACKWARD_FACING
• 6: ROTATION_LEFT_FACING
• 24: ROTATION_UPWARD_FACING
• 25: ROTATION_DOWNWARD_FACING

Reboot	minValue	maxValue	increment	default	unit
✓				25

SENS_EN_ADIS164X (INT32)

Analog Devices ADIS16448 IMU (external SPI).

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_ADIS165X (INT32)

Analog Devices ADIS16507 IMU (external SPI).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_AGPSIM (INT32)

Simulate Aux Global Position (AGP).

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_ARSPDSIM (INT32)

Enable simulated airspeed sensor instance.

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_ASP5033 (INT32)

ASP5033 differential pressure sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_AUAVX (INT32)

Amphenol AUAV differential / absolute pressure sensor (external I2C).

Values:

• 0: Sensor disabled, when explicitly started treated as AUAV L05D
• 1: AUAV L05D
• 2: AUAV L10D
• 3: AUAV L30D

Reboot	minValue	maxValue	increment	default	unit
✓				0

SENS_EN_BAROSIM (INT32)

Enable simulated barometer sensor instance.

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_BATT (INT32)

SMBUS Smart battery driver BQ40Z50 and BQ40Z80.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_ETSASPD (INT32)

Eagle Tree airspeed sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_GPSSIM (INT32)

Enable simulated GPS sinstance.

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_INA220 (INT32)

Enable INA220 Power Monitor.

For systems a INA220 Power Monitor, this should be set to true

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_INA226 (INT32)

Enable INA226 Power Monitor.

For systems a INA226 Power Monitor, this should be set to true

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_INA228 (INT32)

Enable INA228 Power Monitor.

For systems a INA228 Power Monitor, this should be set to true

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_INA238 (INT32)

Enable INA238 Power Monitor.

For systems a INA238 Power Monitor, this should be set to true

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_IRLOCK (INT32)

IR-LOCK Sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_LL40LS (INT32)

Lidar-Lite (LL40LS).

Values:

• 0: Disabled
• 1: PWM
• 2: I2C

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

SENS_EN_MAGSIM (INT32)

Enable simulated magnetometer sensor instance.

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_MB12XX (INT32)

Maxbotix Sonar (mb12xx).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_MPDT (INT32)

Enable Mappydot rangefinder (i2c).

Values:

• 0: Disabled
• 1: Autodetect

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_MS4515 (INT32)

TE MS4515 differential pressure sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_MS4525DO (INT32)

TE MS4525DO differential pressure sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_MS5525DS (INT32)

TE MS5525DSO differential pressure sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_PAA3905 (INT32)

PAA3905 Optical Flow.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_PAW3902 (INT32)

PAW3902/PAW3903 Optical Flow.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_PCF8583 (INT32)

PCF8583 eneable driver.

Run PCF8583 driver automatically

Values:

• 0: Disabled
• 1: Eneabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_PGA460 (INT32)

PGA460 Ultrasonic driver (PGA460).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_PMW3901 (INT32)

PMW3901 Optical Flow.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_PX4FLOW (INT32)

PX4 Flow Optical Flow.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_SCH16T (INT32)

Murata SCH16T IMU (external SPI).

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SENS_EN_SDP3X (INT32)

Sensirion SDP3X differential pressure sensor (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_SF0X (INT32)

Lightware Laser Rangefinder hardware model (serial).

Values:

• 1: SF02
• 2: SF10/a
• 3: SF10/b
• 4: SF10/c
• 5: SF11/c
• 6: SF30/b
• 7: SF30/c
• 8: LW20/c

Reboot	minValue	maxValue	increment	default	unit
✓				1

SENS_EN_SF1XX (INT32)

Lightware SF1xx/SF20/LW20 laser rangefinder (i2c).

Values:

• 0: Disabled
• 1: SF10/a
• 2: SF10/b
• 3: SF10/c
• 4: SF11/c
• 5: SF/LW20/b
• 6: SF/LW20/c
• 7: SF/LW30/d

Reboot	minValue	maxValue	increment	default	unit
✓	0	6		0

SENS_EN_SF45_CFG (INT32)

Serial Configuration for Lightware SF45 Rangefinder (serial).

Configure on which serial port to run Lightware SF45 Rangefinder (serial).

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
✓				102

SENS_EN_SHT3X (INT32)

SHT3x temperature and hygrometer.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_SPA06 (INT32)

Goertek SPA06 Barometer (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_SPL06 (INT32)

Goertek SPL06 Barometer (external I2C).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_SR05 (INT32)

HY-SRF05 / HC-SR05.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_TF02PRO (INT32)

TF02 Pro Distance Sensor (i2c).

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_THERMAL (INT32)

Thermal control of sensor temperature.

Values:

• -1: Thermal control unavailable
• 0: Thermal control off
• 1: Thermal control enabled

Reboot	minValue	maxValue	increment	default	unit
				-1

SENS_EN_TRANGER (INT32)

TeraRanger Rangefinder (i2c).

Values:

• 0: Disabled
• 1: Autodetect
• 2: TROne
• 3: TREvo60m
• 4: TREvo600Hz
• 5: TREvo3m

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		0

SENS_EN_VL53L0X (INT32)

VL53L0X Distance Sensor.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EN_VL53L1X (INT32)

VL53L1X Distance Sensor.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SENS_EXT_I2C_PRB (INT32)

External I2C probe.

Probe for optional external I2C devices.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SENS_FLOW_RATE (FLOAT)

Optical flow max rate.

Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.

Reboot	minValue	maxValue	increment	default	unit
✓	1	200		70.0	Hz

SENS_FLOW_ROT (INT32)

Optical flow rotation.

This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
				0

SENS_FLOW_SCALE (FLOAT)

Optical flow scale factor.

Reboot	minValue	maxValue	increment	default	unit
	0.5	1.5		1.

SENS_FTX_CFG (INT32)

Serial Configuration for FT Technologies Digital Wind Sensor (serial).

Configure on which serial port to run FT Technologies Digital Wind Sensor (serial).

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

SENS_GPS_MASK (INT32)

Multi GPS Blending Control Mask.

Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy

Bitmask:

• 0: use speed accuracy
• 1: use hpos accuracy
• 2: use vpos accuracy

Reboot	minValue	maxValue	increment	default	unit
	0	7		7

SENS_GPS_PRIME (INT32)

Multi GPS primary instance.

When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.

Reboot	minValue	maxValue	increment	default	unit
	-1	1		0

SENS_GPS_TAU (FLOAT)

Multi GPS Blending Time Constant.

Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.

Reboot	minValue	maxValue	increment	default	unit
	1.0	100.0		10.0	s

SENS_IMU_AUTOCAL (INT32)

IMU auto calibration.

Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SENS_IMU_CLPNOTI (INT32)

IMU notify clipping.

Notify the user if the IMU is clipping

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SENS_IMU_MODE (INT32)

Sensors hub IMU mode.

Values:

• 0: Disabled
• 1: Publish primary IMU selection

Reboot	minValue	maxValue	increment	default	unit
✓				1

SENS_IMU_TEMP (FLOAT)

Target IMU temperature.

Reboot	minValue	maxValue	increment	default	unit
	0	85.0		55.0	celcius

SENS_IMU_TEMP_FF (FLOAT)

IMU heater controller feedforward value.

Reboot	minValue	maxValue	increment	default	unit
	0	1.0		0.05	%

SENS_IMU_TEMP_I (FLOAT)

IMU heater controller integrator gain value.

Reboot	minValue	maxValue	increment	default	unit
	0	1.0		0.025	us/C

SENS_IMU_TEMP_P (FLOAT)

IMU heater controller proportional gain value.

Reboot	minValue	maxValue	increment	default	unit
	0	2.0		1.0	us/C

SENS_INT_BARO_EN (INT32)

Enable internal barometers.

For systems with an external barometer, this should be set to false to make sure that the external is used.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

SENS_LEDDAR1_CFG (INT32)

Serial Configuration for LeddarOne Rangefinder.

Configure on which serial port to run LeddarOne Rangefinder.

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

SENS_MAG_AUTOCAL (INT32)

Magnetometer auto calibration.

Automatically initialize magnetometer calibration from bias estimate if available.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SENS_MAG_AUTOROT (INT32)

Automatically set external rotations.

During calibration attempt to automatically determine the rotation of external magnetometers.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

SENS_MAG_MODE (INT32)

Sensors hub mag mode.

Values:

• 0: Publish all magnetometers
• 1: Publish primary magnetometer

Reboot	minValue	maxValue	increment	default	unit
✓				1

SENS_MAG_RATE (FLOAT)

Magnetometer max rate.

Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.

Reboot	minValue	maxValue	increment	default	unit
✓	1	200		15.0	Hz

SENS_MAG_SIDES (INT32)

Bitfield selecting mag sides for calibration.

If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32

Values:

• 34: Two side calibration
• 38: Three side calibration
• 63: Six side calibration

Reboot	minValue	maxValue	increment	default	unit
	34	63		63

SENS_MB12_0_ROT (INT32)

MaxBotix MB12XX Sensor 0 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_10_ROT (INT32)

MaxBotix MB12XX Sensor 10 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_11_ROT (INT32)

MaxBotix MB12XX Sensor 12 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_1_ROT (INT32)

MaxBotix MB12XX Sensor 1 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_2_ROT (INT32)

MaxBotix MB12XX Sensor 2 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_3_ROT (INT32)

MaxBotix MB12XX Sensor 3 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_4_ROT (INT32)

MaxBotix MB12XX Sensor 4 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_5_ROT (INT32)

MaxBotix MB12XX Sensor 5 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_6_ROT (INT32)

MaxBotix MB12XX Sensor 6 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_7_ROT (INT32)

MaxBotix MB12XX Sensor 7 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_8_ROT (INT32)

MaxBotix MB12XX Sensor 8 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MB12_9_ROT (INT32)

MaxBotix MB12XX Sensor 9 Rotation.

This parameter defines the rotation of the sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT0_ROT (INT32)

MappyDot Sensor 0 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT10_ROT (INT32)

MappyDot Sensor 10 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT11_ROT (INT32)

MappyDot Sensor 12 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT1_ROT (INT32)

MappyDot Sensor 1 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT2_ROT (INT32)

MappyDot Sensor 2 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT3_ROT (INT32)

MappyDot Sensor 3 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT4_ROT (INT32)

MappyDot Sensor 4 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT5_ROT (INT32)

MappyDot Sensor 5 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT6_ROT (INT32)

MappyDot Sensor 6 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT7_ROT (INT32)

MappyDot Sensor 7 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT8_ROT (INT32)

MappyDot Sensor 8 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_MPDT9_ROT (INT32)

MappyDot Sensor 9 Rotation.

This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:

• 0: No rotation
• 1: Yaw 45°
• 2: Yaw 90°
• 3: Yaw 135°
• 4: Yaw 180°
• 5: Yaw 225°
• 6: Yaw 270°
• 7: Yaw 315°

Reboot	minValue	maxValue	increment	default	unit
✓	0	7		0

SENS_OR_ADIS164X (INT32)

Analog Devices ADIS16448 IMU Orientation(external SPI).

Values:

• 0: ROTATION_NONE
• 4: ROTATION_YAW_180

Reboot	minValue	maxValue	increment	default	unit
✓	0	101		0

SENS_SF0X_CFG (INT32)

Serial Configuration for Lightware Laser Rangefinder (serial).

Configure on which serial port to run Lightware Laser Rangefinder (serial).

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

SENS_TEMP_ID (INT32)

Target IMU device ID to regulate temperature.

Reboot	minValue	maxValue	increment	default	unit
				0

SENS_TFLOW_CFG (INT32)

Serial Configuration for ThoneFlow-3901U optical flow sensor.

Configure on which serial port to run ThoneFlow-3901U optical flow sensor.

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

SENS_TFMINI_CFG (INT32)

Serial Configuration for Benewake TFmini Rangefinder.

Configure on which serial port to run Benewake TFmini Rangefinder.

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

SENS_ULAND_CFG (INT32)

Serial Configuration for uLanding Radar.

Configure on which serial port to run uLanding Radar.

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

SENS_VN_CFG (INT32)

Serial Configuration for VectorNav (VN-100, VN-200, VN-300).

Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).

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

SF45_ORIENT_CFG (INT32)

Orientation upright or facing downward.

The SF45 mounted facing upward or downward on the frame

Values:

• 24: Rotation upward
• 25: Rotation downward

Reboot	minValue	maxValue	increment	default	unit
✓				24

SF45_UPDATE_CFG (INT32)

Update rate in Hz.

The SF45 sets the update rate in Hz to allow greater resolution

Values:

• 1: 50hz
• 2: 100hz
• 3: 200hz
• 4: 400hz
• 5: 500hz
• 6: 625hz
• 7: 1000hz
• 8: 1250hz
• 9: 1538hz
• 10: 2000hz
• 11: 2500hz
• 12: 5000hz

Reboot	minValue	maxValue	increment	default	unit
✓				5

SF45_YAW_CFG (INT32)

Sensor facing forward or backward.

The usb port on the sensor indicates 180deg, opposite usb is forward facing

Values:

• 0: Rotation forward
• 2: Rotation right
• 4: Rotation backward
• 6: Rotation left

Reboot	minValue	maxValue	increment	default	unit
✓				0

SIM_ARSPD_FAIL (INT32)

Dynamically simulate failure of airspeed sensor instance.

Values:

• 0: Disabled
• 1: Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

VN_MODE (INT32)

VectorNav driver mode.

INS or sensors

Values:

• 0: Sensors Only (default)
• 1: INS

Reboot	minValue	maxValue	increment	default	unit
				0

VOXLPM_SHUNT_BAT (FLOAT)

VOXL Power Monitor Shunt, Battery.

Reboot	minValue	maxValue	increment	default	unit
✓	0.000000001	0.1	.000000001	0.00063

VOXLPM_SHUNT_REG (FLOAT)

VOXL Power Monitor Shunt, Regulator.

Reboot	minValue	maxValue	increment	default	unit
✓	0.000000001	0.1	.000000001	0.0056

Septentrio

SEP_AUTO_CONFIG (INT32)

Toggle automatic receiver configuration.

By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

SEP_CONST_USAGE (INT32)

Usage of different constellations.

Choice of which constellations the receiver should use for PVT computation. When this is 0, the constellation usage isn't changed.

Bitmask:

• 0: GPS
• 1: GLONASS
• 2: Galileo
• 3: SBAS
• 4: BeiDou

Reboot	minValue	maxValue	increment	default	unit
✓	0	63		0

SEP_DUMP_COMM (INT32)

Log GPS communication data.

Log raw communication between the driver and connected receivers. For example, "To receiver" will log all commands and corrections sent by the driver to the receiver.

Values:

• 0: Disabled
• 1: From receiver
• 2: To receiver
• 3: Both

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

SEP_HARDW_SETUP (INT32)

Setup and expected use of the hardware.

• Default: Use two receivers as completely separate instances. - Moving base: Use two receivers in a rover & moving base setup for heading.

Values:

• 0: Default
• 1: Moving base

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

SEP_LOG_FORCE (INT32)

Whether to overwrite or add to existing logging.

When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SEP_LOG_HZ (INT32)

Logging frequency for the receiver.

Select the frequency at which the connected receiver should log data to its internal storage.

Values:

• 0: Disabled
• 1: 0.1 Hz
• 2: 0.2 Hz
• 3: 0.5 Hz
• 4: 1 Hz
• 5: 2 Hz
• 6: 5 Hz
• 7: 10 Hz
• 8: 20 Hz
• 9: 25 Hz
• 10: 50 Hz

Reboot	minValue	maxValue	increment	default	unit
✓	0	10		0

SEP_LOG_LEVEL (INT32)

Logging level for the receiver.

Select the level of detail that needs to be logged by the receiver.

Values:

• 0: Lite
• 1: Basic
• 2: Default
• 3: Full

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		2

SEP_OUTP_HZ (INT32)

Output frequency of main SBF blocks.

The output frequency of the main SBF blocks needed for PVT information.

Values:

• 0: 5 Hz
• 1: 10 Hz
• 2: 20 Hz
• 3: 25 Hz

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		1

SEP_PITCH_OFFS (FLOAT)

Pitch offset for dual antenna GPS.

Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.

Reboot	minValue	maxValue	increment	default	unit
✓	-90	90		0	deg

SEP_PORT1_CFG (INT32)

Serial Configuration for GPS Port.

Configure on which serial port to run GPS Port.

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

SEP_PORT2_CFG (INT32)

Serial Configuration for Secondary GPS port.

Configure on which serial port to run Secondary GPS port.

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

SEP_SAT_INFO (INT32)

Enable sat info.

Enable publication of satellite info (ORB_ID(satellite_info)) if possible.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SEP_STREAM_LOG (INT32)

Logging stream used during automatic configuration.

The stream the autopilot sets up on the receiver to output the logging data. Set this to another value if the default stream is already used for another purpose.

Reboot	minValue	maxValue	increment	default	unit
✓	1	10		2

SEP_STREAM_MAIN (INT32)

Main stream used during automatic configuration.

The stream the autopilot sets up on the receiver to output the main data. Set this to another value if the default stream is already used for another purpose.

Reboot	minValue	maxValue	increment	default	unit
✓	1	10		1

SEP_YAW_OFFS (FLOAT)

Heading/Yaw offset for dual antenna GPS.

Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.

Reboot	minValue	maxValue	increment	default	unit
✓	-360	360		0	deg

Serial

RC_CRSF_PRT_CFG (INT32)

Serial Configuration for CRSF RC Input Driver.

Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) 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

RC_DSM_PRT_CFG (INT32)

Serial Configuration for DSM RC Input Driver.

Configure on which serial port to run DSM RC Input Driver. DSM RC (Spektrum) 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

RC_GHST_PRT_CFG (INT32)

Serial Configuration for GHST RC Input Driver.

Configure on which serial port to run GHST RC Input Driver. Ghost (GHST) RC 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

RC_PORT_CONFIG (INT32)

Serial Configuration for RC Input Driver.

Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.

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
✓				300

RC_SBUS_PRT_CFG (INT32)

Serial Configuration for SBUS RC Input Driver.

Configure on which serial port to run SBUS RC Input Driver. SBUS RC 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
✓				300

SER_EXT2_BAUD (INT32)

Baudrate for the EXT2 Serial Port.

Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				57600

SER_GPS1_BAUD (INT32)

Baudrate for the GPS 1 Serial Port.

Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				0

SER_GPS2_BAUD (INT32)

Baudrate for the GPS 2 Serial Port.

Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				0

SER_GPS3_BAUD (INT32)

Baudrate for the GPS 3 Serial Port.

Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				0

SER_MXS_BAUD (INT32)

MXS Serial Communication Baud rate.

Baudrate for the Serial Port connected to the MXS Transponder

Values:

• 0: 38400
• 1: 600
• 2: 4800
• 3: 9600
• 4: RESERVED
• 5: 57600
• 6: 115200
• 7: 230400
• 8: 19200
• 9: 460800
• 10: 921600

Reboot	minValue	maxValue	increment	default	unit
✓	0	10		5

SER_RC_BAUD (INT32)

Baudrate for the Radio Controller Serial Port.

Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				0

SER_TEL1_BAUD (INT32)

Baudrate for the TELEM 1 Serial Port.

Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				57600

SER_TEL2_BAUD (INT32)

Baudrate for the TELEM 2 Serial Port.

Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				921600

SER_TEL3_BAUD (INT32)

Baudrate for the TELEM 3 Serial Port.

Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				57600

SER_TEL4_BAUD (INT32)

Baudrate for the TELEM/SERIAL 4 Serial Port.

Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				57600

SER_URT6_BAUD (INT32)

Baudrate for the UART 6 Serial Port.

Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				57600

SER_WIFI_BAUD (INT32)

Baudrate for the Wifi Port Serial Port.

Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:

• 0: Auto
• 50: 50 8N1
• 75: 75 8N1
• 110: 110 8N1
• 134: 134 8N1
• 150: 150 8N1
• 200: 200 8N1
• 300: 300 8N1
• 600: 600 8N1
• 1200: 1200 8N1
• 1800: 1800 8N1
• 2400: 2400 8N1
• 4800: 4800 8N1
• 9600: 9600 8N1
• 19200: 19200 8N1
• 38400: 38400 8N1
• 57600: 57600 8N1
• 115200: 115200 8N1
• 230400: 230400 8N1
• 460800: 460800 8N1
• 500000: 500000 8N1
• 921600: 921600 8N1
• 1000000: 1000000 8N1
• 1500000: 1500000 8N1
• 2000000: 2000000 8N1
• 3000000: 3000000 8N1

Reboot	minValue	maxValue	increment	default	unit
✓				1

Simulation In Hardware

SIH_DISTSNSR_MAX (FLOAT)

distance sensor maximum range.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1000.0	0.01	100.0	m

SIH_DISTSNSR_MIN (FLOAT)

distance sensor minimum range.

Reboot	minValue	maxValue	increment	default	unit
	0.0	10.0	0.01	0.0	m

SIH_DISTSNSR_OVR (FLOAT)

if >= 0 the distance sensor measures will be overridden by this value.

Absolute value superior to 10000 will disable distance sensor

Reboot	minValue	maxValue	increment	default	unit
				-1.0	m

SIH_IXX (FLOAT)

Vehicle inertia about X axis.

The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.005	0.025	kg m^2

SIH_IXY (FLOAT)

Vehicle cross term inertia xy.

The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

Reboot	minValue	maxValue	increment	default	unit
			0.005	0.0	kg m^2

SIH_IXZ (FLOAT)

Vehicle cross term inertia xz.

The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

Reboot	minValue	maxValue	increment	default	unit
			0.005	0.0	kg m^2

SIH_IYY (FLOAT)

Vehicle inertia about Y axis.

The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.005	0.025	kg m^2

SIH_IYZ (FLOAT)

Vehicle cross term inertia yz.

The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

Reboot	minValue	maxValue	increment	default	unit
			0.005	0.0	kg m^2

SIH_IZZ (FLOAT)

Vehicle inertia about Z axis.

The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.005	0.030	kg m^2

SIH_KDV (FLOAT)

First order drag coefficient.

Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDVV. The maximum freefall velocity can be computed as V=10MASS/KDV [m/s]

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.05	1.0	N/(m/s)

SIH_KDW (FLOAT)

First order angular damper coefficient.

Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.005	0.025	Nm/(rad/s)

SIH_LOC_H0 (FLOAT)

Initial AMSL ground altitude.

This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

Reboot	minValue	maxValue	increment	default	unit
	-420.0	8848.0	0.01	489.4	m

SIH_LOC_LAT0 (FLOAT)

Initial geodetic latitude.

This value represents the North-South location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

Reboot	minValue	maxValue	increment	default	unit
	-90	90		47.397742	deg

SIH_LOC_LON0 (FLOAT)

Initial geodetic longitude.

This value represents the East-West location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

Reboot	minValue	maxValue	increment	default	unit
	-180	180		8.545594	deg

SIH_L_PITCH (FLOAT)

Pitch arm length.

This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.05	0.2	m

SIH_L_ROLL (FLOAT)

Roll arm length.

This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.05	0.2	m

SIH_MASS (FLOAT)

Vehicle mass.

This value can be measured by weighting the quad on a scale.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.1	1.0	kg

SIH_Q_MAX (FLOAT)

Max propeller torque.

This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.05	0.1	Nm

SIH_T_MAX (FLOAT)

Max propeller thrust force.

This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.

Reboot	minValue	maxValue	increment	default	unit
	0.0		0.5	5.0	N

SIH_T_TAU (FLOAT)

thruster time constant tau.

the time taken for the thruster to step from 0 to 100% should be about 4 times tau

Reboot	minValue	maxValue	increment	default	unit
				0.05	s

SIH_VEHICLE_TYPE (INT32)

Vehicle type.

Values:

• 0: Multicopter
• 1: Fixed-Wing
• 2: Tailsitter

Reboot	minValue	maxValue	increment	default	unit
✓				0

Simulator

SIM_AGP_FAIL (INT32)

AGP failure mode.

Stuck: freeze the measurement to the current location Drift: add a linearly growing bias to the sensor data

Bitmask:

• 0: Stuck
• 1: Drift

Reboot	minValue	maxValue	increment	default	unit
	0	3		0

SIM_BARO_OFF_P (FLOAT)

simulated barometer pressure offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0

SIM_BARO_OFF_T (FLOAT)

simulated barometer temperature offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	celcius

SIM_GPS_USED (INT32)

simulated GPS number of satellites used.

Reboot	minValue	maxValue	increment	default	unit
	0	50		10

SIM_MAG_OFFSET_X (FLOAT)

simulated magnetometer X offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

SIM_MAG_OFFSET_Y (FLOAT)

simulated magnetometer Y offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

SIM_MAG_OFFSET_Z (FLOAT)

simulated magnetometer Z offset.

Reboot	minValue	maxValue	increment	default	unit
				0.0	gauss

System

RPM_CAP_ENABLE (INT32)

RPM Capture Enable.

Enables the RPM capture module on FMU channel 5.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

RPM_PULS_PER_REV (INT32)

Voltage pulses per revolution.

Number of voltage pulses per one rotor revolution on the capturing pin.

Reboot	minValue	maxValue	increment	default	unit
✓	1	50		1

SYS_AUTOCONFIG (INT32)

Automatically configure default values.

Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.

Values:

• 0: Keep parameters
• 1: Reset parameters to airframe defaults

Reboot	minValue	maxValue	increment	default	unit
				0

SYS_AUTOSTART (INT32)

Auto-start script index.

CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.

Reboot	minValue	maxValue	increment	default	unit
✓	0	9999999		0

SYS_BL_UPDATE (INT32)

Bootloader update.

If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SYS_CAL_ACCEL (INT32)

Enable auto start of accelerometer thermal calibration at the next power up.

0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

SYS_CAL_BARO (INT32)

Enable auto start of barometer thermal calibration at the next power up.

0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

SYS_CAL_GYRO (INT32)

Enable auto start of rate gyro thermal calibration at the next power up.

0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

SYS_CAL_TDEL (INT32)

Required temperature rise during thermal calibration.

A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.

Reboot	minValue	maxValue	increment	default	unit
	10			24	celcius

SYS_CAL_TMAX (INT32)

Maximum starting temperature for thermal calibration.

Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.

Reboot	minValue	maxValue	increment	default	unit
				10	celcius

SYS_CAL_TMIN (INT32)

Minimum starting temperature for thermal calibration.

Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.

Reboot	minValue	maxValue	increment	default	unit
				5	celcius

SYS_DM_BACKEND (INT32)

Dataman storage backend.

Values:

• -1: Disabled
• 0: default (SD card)
• 1: RAM (not persistent)

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

SYS_FAC_CAL_MODE (INT32)

Enable factory calibration mode.

If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.

Values:

• 0: Disabled
• 1: All sensors
• 2: All sensors except mag

Reboot	minValue	maxValue	increment	default	unit
				0

SYS_FAILURE_EN (INT32)

Enable failure injection.

If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

SYS_HAS_BARO (INT32)

Control if the vehicle has a barometer.

Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

SYS_HAS_GPS (INT32)

Control if the vehicle has a GPS.

Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

SYS_HAS_MAG (INT32)

Control if the vehicle has a magnetometer.

Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.

Reboot	minValue	maxValue	increment	default	unit
✓				1

SYS_HAS_NUM_ASPD (INT32)

Control if the vehicle has an airspeed sensor.

Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.

Reboot	minValue	maxValue	increment	default	unit
	0	1		0

SYS_HAS_NUM_DIST (INT32)

Number of distance sensors to check being available.

The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.

Reboot	minValue	maxValue	increment	default	unit
	0	4		0

SYS_HITL (INT32)

Enable HITL/SIH mode on next boot.

While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).

Values:

• -1: external HITL
• 0: HITL and SIH disabled
• 1: HITL enabled
• 2: SIH enabled

Reboot	minValue	maxValue	increment	default	unit
✓				0

SYS_PARAM_VER (INT32)

Parameter version.

This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters are reset and reloaded from the airframe configuration.

Reboot	minValue	maxValue	increment	default	unit
	0			1

SYS_RGB_MAXBRT (FLOAT)

RGB Led brightness limit.

Set to 0 to disable, 1 for maximum brightness

Reboot	minValue	maxValue	increment	default	unit
				1.	%

SYS_STCK_EN (INT32)

Enable stack checking.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

Telemetry

TEL_BST_EN (INT32)

Blacksheep telemetry Enable.

If true, the FMU will try to connect to Blacksheep telemetry on start up

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

TEL_FRSKY_CONFIG (INT32)

Serial Configuration for FrSky Telemetry.

Configure on which serial port to run FrSky Telemetry.

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

TEL_HOTT_CONFIG (INT32)

Serial Configuration for HoTT Telemetry.

Configure on which serial port to run HoTT Telemetry.

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

Testing

TEST_1 (INT32)

TEST_1.

Reboot	minValue	maxValue	increment	default	unit
				2

TEST_2 (INT32)

TEST_2.

Reboot	minValue	maxValue	increment	default	unit
				4

TEST_3 (FLOAT)

TEST_3.

Reboot	minValue	maxValue	increment	default	unit
				5.0

TEST_D (FLOAT)

TEST_D.

Reboot	minValue	maxValue	increment	default	unit
				0.01

TEST_DEV (FLOAT)

TEST_DEV.

Reboot	minValue	maxValue	increment	default	unit
				2.0

TEST_D_LP (FLOAT)

TEST_D_LP.

Reboot	minValue	maxValue	increment	default	unit
				10.0

TEST_HP (FLOAT)

TEST_HP.

Reboot	minValue	maxValue	increment	default	unit
				10.0

TEST_I (FLOAT)

TEST_I.

Reboot	minValue	maxValue	increment	default	unit
				0.1

TEST_I_MAX (FLOAT)

TEST_I_MAX.

Reboot	minValue	maxValue	increment	default	unit
				1.0

TEST_LP (FLOAT)

TEST_LP.

Reboot	minValue	maxValue	increment	default	unit
				10.0

TEST_MAX (FLOAT)

TEST_MAX.

Reboot	minValue	maxValue	increment	default	unit
				1.0

TEST_MEAN (FLOAT)

TEST_MEAN.

Reboot	minValue	maxValue	increment	default	unit
				1.0

TEST_MIN (FLOAT)

TEST_MIN.

Reboot	minValue	maxValue	increment	default	unit
				-1.0

TEST_P (FLOAT)

TEST_P.

Reboot	minValue	maxValue	increment	default	unit
				0.2

TEST_PARAMS (INT32)

TEST_PARAMS.

Reboot	minValue	maxValue	increment	default	unit
				12345678

TEST_RC2_X (INT32)

TEST_RC2_X.

Reboot	minValue	maxValue	increment	default	unit
				16

TEST_RC_X (INT32)

TEST_RC_X.

Reboot	minValue	maxValue	increment	default	unit
				8

TEST_TRIM (FLOAT)

TEST_TRIM.

Reboot	minValue	maxValue	increment	default	unit
				0.5

Thermal Compensation

TC_A0_ID (INT32)

ID of Accelerometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_A0_TMAX (FLOAT)

Accelerometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_A0_TMIN (FLOAT)

Accelerometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_TREF (FLOAT)

Accelerometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_A0_X0_0 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X0_1 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X0_2 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X1_0 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X1_1 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X1_2 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X2_0 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X2_1 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X2_2 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X3_0 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X3_1 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A0_X3_2 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_ID (INT32)

ID of Accelerometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_A1_TMAX (FLOAT)

Accelerometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_A1_TMIN (FLOAT)

Accelerometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_TREF (FLOAT)

Accelerometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_A1_X0_0 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X0_1 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X0_2 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X1_0 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X1_1 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X1_2 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X2_0 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X2_1 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X2_2 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X3_0 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X3_1 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A1_X3_2 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_ID (INT32)

ID of Accelerometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_A2_TMAX (FLOAT)

Accelerometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_A2_TMIN (FLOAT)

Accelerometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_TREF (FLOAT)

Accelerometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_A2_X0_0 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X0_1 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X0_2 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X1_0 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X1_1 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X1_2 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X2_0 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X2_1 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X2_2 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X3_0 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X3_1 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A2_X3_2 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_ID (INT32)

ID of Accelerometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_A3_TMAX (FLOAT)

Accelerometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_A3_TMIN (FLOAT)

Accelerometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_TREF (FLOAT)

Accelerometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_A3_X0_0 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X0_1 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X0_2 (FLOAT)

Accelerometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X1_0 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X1_1 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X1_2 (FLOAT)

Accelerometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X2_0 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X2_1 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X2_2 (FLOAT)

Accelerometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X3_0 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X3_1 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A3_X3_2 (FLOAT)

Accelerometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_A_ENABLE (INT32)

Thermal compensation for accelerometer sensors.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

TC_B0_ID (INT32)

ID of Barometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_B0_TMAX (FLOAT)

Barometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				75.0

TC_B0_TMIN (FLOAT)

Barometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				5.0

TC_B0_TREF (FLOAT)

Barometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				40.0

TC_B0_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B0_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B0_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B0_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B0_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B0_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_ID (INT32)

ID of Barometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_B1_TMAX (FLOAT)

Barometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				75.0

TC_B1_TMIN (FLOAT)

Barometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				5.0

TC_B1_TREF (FLOAT)

Barometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				40.0

TC_B1_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B1_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_ID (INT32)

ID of Barometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_B2_TMAX (FLOAT)

Barometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				75.0

TC_B2_TMIN (FLOAT)

Barometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				5.0

TC_B2_TREF (FLOAT)

Barometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				40.0

TC_B2_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B2_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_ID (INT32)

ID of Barometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_B3_TMAX (FLOAT)

Barometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				75.0

TC_B3_TMIN (FLOAT)

Barometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				5.0

TC_B3_TREF (FLOAT)

Barometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				40.0

TC_B3_X0 (FLOAT)

Barometer offset temperature ^0 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_X1 (FLOAT)

Barometer offset temperature ^1 polynomial coefficients.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_X2 (FLOAT)

Barometer offset temperature ^2 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_X3 (FLOAT)

Barometer offset temperature ^3 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_X4 (FLOAT)

Barometer offset temperature ^4 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B3_X5 (FLOAT)

Barometer offset temperature ^5 polynomial coefficient.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_B_ENABLE (INT32)

Thermal compensation for barometric pressure sensors.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

TC_G0_ID (INT32)

ID of Gyro that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_G0_TMAX (FLOAT)

Gyro calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_G0_TMIN (FLOAT)

Gyro calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_TREF (FLOAT)

Gyro calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_G0_X0_0 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X0_1 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X0_2 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X1_0 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X1_1 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X1_2 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X2_0 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X2_1 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X2_2 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X3_0 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X3_1 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G0_X3_2 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_ID (INT32)

ID of Gyro that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_G1_TMAX (FLOAT)

Gyro calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_G1_TMIN (FLOAT)

Gyro calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_TREF (FLOAT)

Gyro calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_G1_X0_0 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X0_1 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X0_2 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X1_0 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X1_1 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X1_2 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X2_0 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X2_1 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X2_2 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X3_0 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X3_1 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G1_X3_2 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_ID (INT32)

ID of Gyro that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_G2_TMAX (FLOAT)

Gyro calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_G2_TMIN (FLOAT)

Gyro calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_TREF (FLOAT)

Gyro calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_G2_X0_0 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X0_1 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X0_2 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X1_0 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X1_1 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X1_2 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X2_0 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X2_1 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X2_2 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X3_0 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X3_1 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G2_X3_2 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_ID (INT32)

ID of Gyro that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_G3_TMAX (FLOAT)

Gyro calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_G3_TMIN (FLOAT)

Gyro calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_TREF (FLOAT)

Gyro calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_G3_X0_0 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X0_1 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X0_2 (FLOAT)

Gyro rate offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X1_0 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X1_1 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X1_2 (FLOAT)

Gyro rate offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X2_0 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X2_1 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X2_2 (FLOAT)

Gyro rate offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X3_0 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X3_1 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G3_X3_2 (FLOAT)

Gyro rate offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_G_ENABLE (INT32)

Thermal compensation for rate gyro sensors.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

TC_M0_ID (INT32)

ID of Magnetometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_M0_TMAX (FLOAT)

Magnetometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_M0_TMIN (FLOAT)

Magnetometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_TREF (FLOAT)

Magnetometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_M0_X0_0 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X0_1 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X0_2 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X1_0 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X1_1 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X1_2 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X2_0 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X2_1 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X2_2 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X3_0 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X3_1 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M0_X3_2 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_ID (INT32)

ID of Magnetometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_M1_TMAX (FLOAT)

Magnetometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_M1_TMIN (FLOAT)

Magnetometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_TREF (FLOAT)

Magnetometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_M1_X0_0 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X0_1 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X0_2 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X1_0 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X1_1 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X1_2 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X2_0 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X2_1 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X2_2 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X3_0 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X3_1 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M1_X3_2 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_ID (INT32)

ID of Magnetometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_M2_TMAX (FLOAT)

Magnetometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_M2_TMIN (FLOAT)

Magnetometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_TREF (FLOAT)

Magnetometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_M2_X0_0 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X0_1 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X0_2 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X1_0 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X1_1 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X1_2 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X2_0 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X2_1 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X2_2 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X3_0 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X3_1 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M2_X3_2 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_ID (INT32)

ID of Magnetometer that the calibration is for.

Reboot	minValue	maxValue	increment	default	unit
				0

TC_M3_TMAX (FLOAT)

Magnetometer calibration maximum temperature.

Reboot	minValue	maxValue	increment	default	unit
				100.0

TC_M3_TMIN (FLOAT)

Magnetometer calibration minimum temperature.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_TREF (FLOAT)

Magnetometer calibration reference temperature.

Reboot	minValue	maxValue	increment	default	unit
				25.0

TC_M3_X0_0 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X0_1 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X0_2 (FLOAT)

Magnetometer offset temperature ^0 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X1_0 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X1_1 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X1_2 (FLOAT)

Magnetometer offset temperature ^1 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X2_0 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X2_1 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X2_2 (FLOAT)

Magnetometer offset temperature ^2 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X3_0 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - X axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X3_1 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Y axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M3_X3_2 (FLOAT)

Magnetometer offset temperature ^3 polynomial coefficient - Z axis.

Reboot	minValue	maxValue	increment	default	unit
				0.0

TC_M_ENABLE (INT32)

Thermal compensation for magnetometer sensors.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

Transponder

MXS_EXT_CFG (INT32)

Sagetech External Configuration Mode.

Disables auto-configuration mode enabling MXS config through external software.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

MXS_OP_MODE (INT32)

Sagetech MXS mode configuration.

This parameter defines the operating mode of the MXS

Values:

• 0: Off
• 1: On
• 2: Standby
• 3: Alt

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		0

MXS_SER_CFG (INT32)

Serial Configuration for Sagetech MXS Serial Port.

Configure on which serial port to run Sagetech MXS Serial Port.

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

MXS_TARG_PORT (INT32)

Sagetech MXS Participant Configuration.

The MXS communication port to receive Target data from

Values:

• 0: Auto
• 1: COM0
• 2: COM1

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		1

UAVCAN

CANNODE_BITRATE (INT32)

UAVCAN CAN bus bitrate.

Reboot	minValue	maxValue	increment	default	unit
	20000	1000000		1000000

CANNODE_PUB_MBD (INT32)

Enable MovingBaselineData publication.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

CANNODE_SUB_MBD (INT32)

Enable MovingBaselineData subscription.

Reboot	minValue	maxValue	increment	default	unit
✓		1		Disabled (0)

CANNODE_SUB_RTCM (INT32)

Enable RTCM subscription.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

CANNODE_TERM (INT32)

CAN built-in bus termination.

Reboot	minValue	maxValue	increment	default	unit
		1		Disabled (0)

SIM_GZ_EN (INT32)

Simulator Gazebo bridge enable.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_BITRATE (INT32)

UAVCAN CAN bus bitrate.

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

UAVCAN_ECU_FUELT (INT32)

UAVCAN fuel tank fuel type.

This parameter defines the type of fuel used in the vehicle's fuel tank. 0: Unknown 1: Liquid (e.g., gasoline, diesel) 2: Gas (e.g., hydrogen, methane, propane)

Values:

• 0: Unknown
• 1: Liquid
• 2: Gas

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		1

UAVCAN_ECU_MAXF (FLOAT)

UAVCAN fuel tank maximum capacity.

This parameter defines the maximum fuel capacity of the vehicle's fuel tank.

Reboot	minValue	maxValue	increment	default	unit
✓	0.0	100000.0	0.1	15.0	liters

UAVCAN_ENABLE (INT32)

UAVCAN mode.

0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.

Values:

• 0: Disabled
• 1: Sensors Manual Config
• 2: Sensors Automatic Config
• 3: Sensors and Actuators (ESCs) Automatic Config

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		0

UAVCAN_LGT_ANTCL (INT32)

UAVCAN ANTI_COLLISION light operating mode.

This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:

• 0: Always off
• 1: When autopilot is armed
• 2: When autopilot is prearmed
• 3: Always on

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		2

UAVCAN_LGT_LAND (INT32)

UAVCAN LIGHT_ID_LANDING light operating mode.

This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:

• 0: Always off
• 1: When autopilot is armed
• 2: When autopilot is prearmed
• 3: Always on

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		0

UAVCAN_LGT_NAV (INT32)

UAVCAN RIGHT_OF_WAY light operating mode.

This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:

• 0: Always off
• 1: When autopilot is armed
• 2: When autopilot is prearmed
• 3: Always on

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		3

UAVCAN_LGT_STROB (INT32)

UAVCAN STROBE light operating mode.

This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:

• 0: Always off
• 1: When autopilot is armed
• 2: When autopilot is prearmed
• 3: Always on

Reboot	minValue	maxValue	increment	default	unit
✓	0	3		1

UAVCAN_NODE_ID (INT32)

UAVCAN Node ID.

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

Reboot	minValue	maxValue	increment	default	unit
✓	1	125		1

UAVCAN_PUB_ARM (INT32)

publish Arming Status stream.

Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_PUB_MBD (INT32)

publish moving baseline data RTCM stream.

Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_PUB_RTCM (INT32)

publish RTCM stream.

Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_RNG_MAX (FLOAT)

UAVCAN rangefinder maximum range.

This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.

Reboot	minValue	maxValue	increment	default	unit
				200.0	m

UAVCAN_RNG_MIN (FLOAT)

UAVCAN rangefinder minimum range.

This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.

Reboot	minValue	maxValue	increment	default	unit
				0.3	m

UAVCAN_SUB_ASPD (INT32)

subscription airspeed.

Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_BARO (INT32)

subscription barometer.

Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_BAT (INT32)

subscription battery.

Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library

Values:

• 0: Disable
• 1: Raw data
• 2: Filter data

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

UAVCAN_SUB_BTN (INT32)

subscription button.

Enable UAVCAN button subscription. ardupilot::indication::Button

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_DPRES (INT32)

subscription differential pressure.

Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_FLOW (INT32)

subscription flow.

Enable UAVCAN optical flow subscription.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_FUEL (INT32)

subscription fuel tank.

Enable UAVCAN fuel tank status subscription.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_GPS (INT32)

subscription GPS.

Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

UAVCAN_SUB_GPS_R (INT32)

subscription GPS Relative.

Enable UAVCAN GPS Relative subscription. ardupilot::gnss::RelPosHeading

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

UAVCAN_SUB_HYGRO (INT32)

subscription hygrometer.

Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_ICE (INT32)

subscription ICE.

Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_IMU (INT32)

subscription IMU.

Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UAVCAN_SUB_MAG (INT32)

subscription magnetometer.

Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

UAVCAN_SUB_RNG (INT32)

subscription range finder.

Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UUV Attitude Control

UUV_DIRCT_PITCH (FLOAT)

Direct pitch input.

Reboot	minValue	maxValue	increment	default	unit
				0.0

UUV_DIRCT_ROLL (FLOAT)

Direct roll input.

Reboot	minValue	maxValue	increment	default	unit
				0.0

UUV_DIRCT_THRUST (FLOAT)

Direct thrust input.

Reboot	minValue	maxValue	increment	default	unit
				0.0

UUV_DIRCT_YAW (FLOAT)

Direct yaw input.

Reboot	minValue	maxValue	increment	default	unit
				0.0

UUV_INPUT_MODE (INT32)

Select Input Mode.

Values:

• 0: use Attitude Setpoints
• 1: Direct Feedthrough

Reboot	minValue	maxValue	increment	default	unit
				0

UUV_PITCH_D (FLOAT)

Pitch differential gain.

Reboot	minValue	maxValue	increment	default	unit
				2.0

UUV_PITCH_P (FLOAT)

Pitch proportional gain.

Reboot	minValue	maxValue	increment	default	unit
				4.0

UUV_ROLL_D (FLOAT)

Roll differential gain.

Reboot	minValue	maxValue	increment	default	unit
				1.5

UUV_ROLL_P (FLOAT)

Roll proportional gain.

Reboot	minValue	maxValue	increment	default	unit
				4.0

UUV_YAW_D (FLOAT)

Yaw differential gain.

Reboot	minValue	maxValue	increment	default	unit
				2.0

UUV_YAW_P (FLOAT)

Yawh proportional gain.

Reboot	minValue	maxValue	increment	default	unit
				4.0

UUV Position Control

UUV_GAIN_X_D (FLOAT)

Gain of D controller X.

Reboot	minValue	maxValue	increment	default	unit
				0.2

UUV_GAIN_X_P (FLOAT)

Gain of P controller X.

Reboot	minValue	maxValue	increment	default	unit
				1.0

UUV_GAIN_Y_D (FLOAT)

Gain of D controller Y.

Reboot	minValue	maxValue	increment	default	unit
				0.2

UUV_GAIN_Y_P (FLOAT)

Gain of P controller Y.

Reboot	minValue	maxValue	increment	default	unit
				1.0

UUV_GAIN_Z_D (FLOAT)

Gain of D controller Z.

Reboot	minValue	maxValue	increment	default	unit
				0.2

UUV_GAIN_Z_P (FLOAT)

Gain of P controller Z.

Reboot	minValue	maxValue	increment	default	unit
				1.0

UUV_STAB_MODE (INT32)

Stabilization mode(1) or Position Control(0).

Values:

• 0: Position Control
• 1: Stabilization Mode

Reboot	minValue	maxValue	increment	default	unit
				1

UWB

UWB_INIT_OFF_X (FLOAT)

UWB sensor X offset in body frame.

UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o

Reboot	minValue	maxValue	increment	default	unit
			0.01	0.0	m

UWB_INIT_OFF_Y (FLOAT)

UWB sensor Y offset in body frame.

UWB sensor positioning in relation to Drone in NED. Y offset.

Reboot	minValue	maxValue	increment	default	unit
			0.01	0.0	m

UWB_INIT_OFF_Z (FLOAT)

UWB sensor Z offset in body frame.

UWB sensor positioning in relation to Drone in NED. Z offset.

Reboot	minValue	maxValue	increment	default	unit
			0.01	0.0	m

UWB_PORT_CFG (INT32)

Serial Configuration for Ultrawideband position sensor driver.

Configure on which serial port to run Ultrawideband position sensor 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

UWB_SENS_ROT (INT32)

UWB sensor orientation.

The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.

Values:

• 0: ROTATION_NONE
• 1: ROTATION_YAW_45
• 2: ROTATION_YAW_90
• 3: ROTATION_YAW_135
• 4: ROTATION_YAW_180
• 5: ROTATION_YAW_225
• 6: ROTATION_YAW_270
• 7: ROTATION_YAW_315
• 8: ROTATION_ROLL_180
• 9: ROTATION_ROLL_180_YAW_45
• 10: ROTATION_ROLL_180_YAW_90
• 11: ROTATION_ROLL_180_YAW_135
• 12: ROTATION_PITCH_180
• 13: ROTATION_ROLL_180_YAW_225
• 14: ROTATION_ROLL_180_YAW_270
• 15: ROTATION_ROLL_180_YAW_315
• 16: ROTATION_ROLL_90
• 17: ROTATION_ROLL_90_YAW_45
• 18: ROTATION_ROLL_90_YAW_90
• 19: ROTATION_ROLL_90_YAW_135
• 20: ROTATION_ROLL_270
• 21: ROTATION_ROLL_270_YAW_45
• 22: ROTATION_ROLL_270_YAW_90
• 23: ROTATION_ROLL_270_YAW_135
• 24: ROTATION_PITCH_90
• 25: ROTATION_PITCH_270
• 26: ROTATION_PITCH_180_YAW_90
• 27: ROTATION_PITCH_180_YAW_270
• 28: ROTATION_ROLL_90_PITCH_90
• 29: ROTATION_ROLL_180_PITCH_90
• 30: ROTATION_ROLL_270_PITCH_90
• 31: ROTATION_ROLL_90_PITCH_180
• 32: ROTATION_ROLL_270_PITCH_180
• 33: ROTATION_ROLL_90_PITCH_270
• 34: ROTATION_ROLL_180_PITCH_270
• 35: ROTATION_ROLL_270_PITCH_270
• 36: ROTATION_ROLL_90_PITCH_180_YAW_90
• 37: ROTATION_ROLL_90_YAW_270
• 38: ROTATION_ROLL_90_PITCH_68_YAW_293
• 39: ROTATION_PITCH_315
• 40: ROTATION_ROLL_90_PITCH_315

Reboot	minValue	maxValue	increment	default	unit
				0

UXRCE-DDS Client

UXRCE_DDS_AG_IP (INT32)

uXRCE-DDS Agent IP address.

If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.

Reboot	minValue	maxValue	increment	default	unit
✓				2130706433

UXRCE_DDS_CFG (INT32)

Serial Configuration for UXRCE-DDS Client.

Configure on which serial port to run UXRCE-DDS Client.

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
• 1000: Ethernet

Reboot	minValue	maxValue	increment	default	unit
✓				0

UXRCE_DDS_DOM_ID (INT32)

uXRCE-DDS domain ID.

uXRCE-DDS domain ID

Reboot	minValue	maxValue	increment	default	unit
✓				0

UXRCE_DDS_KEY (INT32)

uXRCE-DDS session key.

uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.

Reboot	minValue	maxValue	increment	default	unit
✓				1

UXRCE_DDS_PRT (INT32)

uXRCE-DDS UDP port.

If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.

Reboot	minValue	maxValue	increment	default	unit
✓	0	65535		8888

UXRCE_DDS_PTCFG (INT32)

uXRCE-DDS participant configuration.

Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name "px4_participant".

Values:

• 0: Default
• 1: Localhost-only
• 2: Custom participant

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

UXRCE_DDS_SYNCC (INT32)

Enable uXRCE-DDS system clock synchronization.

When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.

Reboot	minValue	maxValue	increment	default	unit
✓				Disabled (0)

UXRCE_DDS_SYNCT (INT32)

Enable uXRCE-DDS timestamp synchronization.

When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.

Reboot	minValue	maxValue	increment	default	unit
✓				Enabled (1)

VOXL ESC

VOXL_ESC_BAUD (INT32)

UART ESC baud rate.

Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.

Reboot	minValue	maxValue	increment	default	unit
				250000	bit/s

VOXL_ESC_CONFIG (INT32)

UART ESC configuration.

Selects what type of UART ESC, if any, is being used.

Values:

• 0: - Disabled
• 1: - VOXL ESC

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

VOXL_ESC_MODE (INT32)

UART ESC Mode.

Selects what type of mode is enabled, if any

Values:

• 0: - None
• 1: - Turtle Mode enabled via AUX1
• 2: - Turtle Mode enabled via AUX2
• 3: - UART Passthrough Mode

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

VOXL_ESC_PUB_BST (INT32)

UART ESC Enable publishing of battery status.

Only applicable to ESCs that report total battery voltage and current

Values:

• 0: - Disabled
• 1: - Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		1

VOXL_ESC_RPM_MAX (INT32)

UART ESC RPM Max.

Maximum RPM for ESC

Reboot	minValue	maxValue	increment	default	unit
				15000	rpm

VOXL_ESC_RPM_MIN (INT32)

UART ESC RPM Min.

Minimum RPM for ESC

Reboot	minValue	maxValue	increment	default	unit
				5500	rpm

VOXL_ESC_SDIR1 (INT32)

UART ESC ID 1 Spin Direction Flag.

Values:

• 0: - Default
• 1: - Reverse

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_SDIR2 (INT32)

UART ESC ID 2 Spin Direction Flag.

Values:

• 0: - Default
• 1: - Reverse

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_SDIR3 (INT32)

UART ESC ID 3 Spin Direction Flag.

Values:

• 0: - Default
• 1: - Reverse

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_SDIR4 (INT32)

UART ESC ID 4 Spin Direction Flag.

Values:

• 0: - Default
• 1: - Reverse

Reboot	minValue	maxValue	increment	default	unit
				0

VOXL_ESC_T_COSP (FLOAT)

UART ESC Turtle Mode Cosphi.

Reboot	minValue	maxValue	increment	default	unit
	0.000	1.000	0.001	0.990

VOXL_ESC_T_DEAD (INT32)

UART ESC Turtle Mode Crash Flip Motor Deadband.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	20

VOXL_ESC_T_EXPO (INT32)

UART ESC Turtle Mode Crash Flip Motor expo.

Reboot	minValue	maxValue	increment	default	unit
	0	100	1	35

VOXL_ESC_T_MINF (FLOAT)

UART ESC Turtle Mode Crash Flip Motor STICK_MINF.

Reboot	minValue	maxValue	increment	default	unit
	0.0	100.0	1.0	0.15

VOXL_ESC_T_OVER (INT32)

UART ESC Over-Temperature Threshold (Degrees C).

Only applicable to ESCs that report temperature

Values:

• 0: - Disabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	200		0

VOXL_ESC_T_PERC (INT32)

UART ESC Turtle Mode Crash Flip Motor Percent.

Reboot	minValue	maxValue	increment	default	unit
	1	100	1	90

VOXL_ESC_T_WARN (INT32)

UART ESC Temperature Warning Threshold (Degrees C).

Only applicable to ESCs that report temperature

Values:

• 0: - Disabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	200		0

VOXL_ESC_VLOG (INT32)

UART ESC verbose logging.

Values:

• 0: - Disabled
• 1: - Enabled

Reboot	minValue	maxValue	increment	default	unit
✓	0	1		0

VOXL2 IO

VOXL2_IO_BAUD (INT32)

UART M0065 baud rate.

Default rate is 921600, which is used for communicating with M0065.

Reboot	minValue	maxValue	increment	default	unit
				921600	bit/s

VOXL2_IO_MAX (INT32)

M0065 PWM Max.

Maximum duration (microseconds) for M0065 PWM

Reboot	minValue	maxValue	increment	default	unit
	0	2000		2000	us

VOXL2_IO_MIN (INT32)

M0065 PWM Min.

Minimum duration (microseconds) for M0065 PWM

Reboot	minValue	maxValue	increment	default	unit
	0	2000		1000	us

VTOL Attitude Control

VT_ARSP_BLEND (FLOAT)

Transition blending airspeed.

Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.

Reboot	minValue	maxValue	increment	default	unit
	0.00	30.00	1	8.0	m/s

VT_ARSP_TRANS (FLOAT)

Transition airspeed.

Airspeed at which we can switch to fw mode

Reboot	minValue	maxValue	increment	default	unit
	0.00	30.00	1	10.0	m/s

VT_BT_TILT_DUR (FLOAT)

Duration motor tilt up in backtransition.

Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.

Reboot	minValue	maxValue	increment	default	unit
	0.1	10	0.1	1.	s

VT_B_DEC_I (FLOAT)

Backtransition deceleration setpoint to pitch I gain.

Reboot	minValue	maxValue	increment	default	unit
	0	0.3	0.05	0.1	rad s/m

VT_B_DEC_MSS (FLOAT)

Approximate deceleration during back transition.

Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.

Reboot	minValue	maxValue	increment	default	unit
	0.5	10	0.1	2.0	m/s^2

VT_B_TRANS_DUR (FLOAT)

Maximum duration of a back transition.

Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.

Reboot	minValue	maxValue	increment	default	unit
	0.1	20.00	1	10.0	s

VT_B_TRANS_RAMP (FLOAT)

Back transition MC motor ramp up time.

This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.

Reboot	minValue	maxValue	increment	default	unit
	0.0	20.0	0.1	3.0	s

VT_ELEV_MC_LOCK (INT32)

Lock control surfaces in hover.

If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.

Reboot	minValue	maxValue	increment	default	unit
				Enabled (1)

VT_FWD_THRUST_EN (INT32)

Use fixed-wing actuation in hover to accelerate forward.

This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.

Values:

• 0: Disabled
• 1: Enabled (except LANDING)
• 2: Enabled if distance to ground above MPC_LAND_ALT1
• 3: Enabled if distance to ground above MPC_LAND_ALT2
• 4: Enabled constantly
• 5: Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)
• 6: Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)

Reboot	minValue	maxValue	increment	default	unit
				0

VT_FWD_THRUST_SC (FLOAT)

Fixed-wing actuation thrust scale for hover forward flight.

Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.01	0.7

VT_FW_DIFTHR_EN (INT32)

Differential thrust in forwards flight.

Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.

Bitmask:

• 0: Yaw
• 1: Roll
• 2: Pitch

Reboot	minValue	maxValue	increment	default	unit
	0	7		0

VT_FW_DIFTHR_S_P (FLOAT)

Pitch differential thrust factor in forward flight.

Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.1	1.

VT_FW_DIFTHR_S_R (FLOAT)

Roll differential thrust factor in forward flight.

Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.1	1.

VT_FW_DIFTHR_S_Y (FLOAT)

Yaw differential thrust factor in forward flight.

Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

Reboot	minValue	maxValue	increment	default	unit
	0.0	2.0	0.1	0.1

VT_FW_MIN_ALT (FLOAT)

Quad-chute altitude.

Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.

Reboot	minValue	maxValue	increment	default	unit
	0.0	200.0	1	0.0	m

VT_FW_QC_HMAX (INT32)

Quad-chute maximum height.

Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.

Reboot	minValue	maxValue	increment	default	unit
	0		1	0	m

VT_FW_QC_P (INT32)

Quad-chute max pitch threshold.

Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

Reboot	minValue	maxValue	increment	default	unit
	0	180		0	deg

VT_FW_QC_R (INT32)

Quad-chute max roll threshold.

Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

Reboot	minValue	maxValue	increment	default	unit
	0	180		0	deg

VT_F_TRANS_DUR (FLOAT)

Duration of a front transition.

Time in seconds used for a transition

Reboot	minValue	maxValue	increment	default	unit
	0.1	20.00	1	5.0	s

VT_F_TRANS_THR (FLOAT)

Target throttle value for the transition to fixed-wing flight.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0

VT_F_TR_OL_TM (FLOAT)

Airspeed-less front transition time (open loop).

The duration of the front transition when there is no airspeed feedback available.

Reboot	minValue	maxValue	increment	default	unit
	1.0	30.0	0.5	6.0	s

VT_LND_PITCH_MIN (FLOAT)

Minimum pitch angle during hover landing.

Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.

Reboot	minValue	maxValue	increment	default	unit
	-10.0	45.0	0.1	-5.0	deg

VT_PITCH_MIN (FLOAT)

Minimum pitch angle during hover.

Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.

Reboot	minValue	maxValue	increment	default	unit
	-10.0	45.0	0.1	-5.0	deg

VT_PSHER_SLEW (FLOAT)

Pusher throttle ramp up slew rate.

Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.

Reboot	minValue	maxValue	increment	default	unit
	0		0.01	0.33	1/s

VT_QC_ALT_LOSS (FLOAT)

Quad-chute uncommanded descent threshold.

Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.

Reboot	minValue	maxValue	increment	default	unit
	0.0	200.0	1	0.0	m

VT_QC_T_ALT_LOSS (FLOAT)

Quad-chute transition altitude loss threshold.

Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

Reboot	minValue	maxValue	increment	default	unit
	0	50	1	20.0	m

VT_SPOILER_MC_LD (FLOAT)

Spoiler setting while landing (hover).

Reboot	minValue	maxValue	increment	default	unit
	-1	1	0.1	0.	norm

VT_TILT_FW (FLOAT)

Normalized tilt in FW.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	1.0

VT_TILT_MC (FLOAT)

Normalized tilt in Hover.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.0

VT_TILT_TRANS (FLOAT)

Normalized tilt in transition to FW.

Reboot	minValue	maxValue	increment	default	unit
	0.0	1.0	0.01	0.4

VT_TRANS_MIN_TM (FLOAT)

Front transition minimum time.

Minimum time in seconds for front transition.

Reboot	minValue	maxValue	increment	default	unit
	0.0	20.0	0.1	2.0	s

VT_TRANS_P2_DUR (FLOAT)

Duration of front transition phase 2.

Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.

Reboot	minValue	maxValue	increment	default	unit
	0.1	5.0	0.01	0.5	s

VT_TRANS_TIMEOUT (FLOAT)

Front transition timeout.

Time in seconds after which transition will be cancelled. Disabled if set to 0.

Reboot	minValue	maxValue	increment	default	unit
	0.1	30.00	1	15.0	s

VT_TYPE (INT32)

VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2).

Values:

• 0: Tailsitter
• 1: Tiltrotor
• 2: Standard

Reboot	minValue	maxValue	increment	default	unit
✓	0	2		0

WV_GAIN (FLOAT)

Weather-vane roll angle to yawrate.

The desired gain to convert roll sp into yaw rate sp.

Reboot	minValue	maxValue	increment	default	unit
	0.0	3.0	0.01	1.0	Hz

VTOL Takeoff

VTO_LOITER_ALT (FLOAT)

VTOL Takeoff relative loiter altitude.

Altitude relative to home at which vehicle will loiter after front transition.

Reboot	minValue	maxValue	increment	default	unit
	20	300	1	80	m

Vertiq IO

VERTIQ_IO_CFG (INT32)

Serial Configuration for Vertiq IO.

Configure on which serial port to run Vertiq IO.

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

VTQ_ARM_BEHAVE (INT32)

The triggered behavior on PX4 arm.

The behavior triggered when the flight controller arms. You have the option to use your motors' arming behaviors, or to force all of your motors to arm

Values:

• 0: Use Motor Arm Behavior
• 1: Send Explicit Arm Command

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_BAUD (INT32)

The IQUART driver's baud rate.

The baud rate (in bits per second) used by the serial port connected with IQUART communication

Reboot	minValue	maxValue	increment	default	unit
✓				115200

VTQ_CONTROL_MODE (INT32)

Module Param - The module's control mechanism.

PWM Mode: Commands a fraction of battery voltage. This changes as the battery voltage changes. This is the least safe mode because the upper throttle limit is determined by the battery voltage. Voltage Mode: Commands a voltage. The motor will behave the same way throughout the life of a battery, assuming the commanded voltage is less than the battery voltage. You must set the MAX_VOLTS parameter. Velocity Mode: Closed-loop, commands a velocity. The controller will adjust the applied voltage so that the motor spins at the commanded velocity. This mode has faster reaction times. Only use this if you know the properties of your propeller. You must set the MAX_VELOCITY parameter.

Values:

• 0: PWM
• 1: Voltage
• 2: Velocity

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_DISARM_TRIG (INT32)

The triggered behavior sent to the motors on PX4 disarm.

The behavior triggered when the flight controller disarms. You have the option to trigger your motors' disarm behaviors, set all motors to coast, or set a predefined throttle setpoint

Values:

• 0: Send Explicit Disarm
• 1: Coast Motors
• 2: Set Predefined Velocity Setpoint

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_DISARM_VELO (INT32)

Velocity sent when DISARM_TRIGGER is Set Predefined Velocity Setpoint.

This is the velocity that will be sent to all motors when PX4 is disarmed and DISARM_TRIGGER is Set Predefined Velocity Setpoint

Reboot	minValue	maxValue	increment	default	unit
	0	100		0

VTQ_FC_DIR (INT32)

Module Param - If the flight controller uses 2D or 3D communication.

The FC and the ESC must agree upon the meaning of the signal coming out of the ESC. When FCs are in 3D mode they re-map negative signals. This parameter keeps the FC and ESC in agreement.

Values:

• 0: 2D
• 1: 3D

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_MAX_VELOCITY (FLOAT)

Module Param - Maximum velocity when CONTROL_MODE is set to Velocity.

Only relevant in Velocity Mode. This is the velocity the controller will command at full throttle.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_MAX_VOLTS (FLOAT)

Module Param - Maximum voltage when CONTROL_MODE is set to Voltage.

Only relevant in Voltage Mode. This is the voltage the controller will command at full throttle.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_MOTOR_DIR (INT32)

Module Param - The direction that the module should spin.

Set the targeted motor's spinning direction (clockwise vs. counter clockwise) and flight mode (2D non-reversible vs. 3D reversible)

Values:

• 0: Unconfigured
• 1: 3D Counter Clockwise
• 2: 3D Clockwise
• 3: 2D Counter Clockwise
• 4: 2D Clockwise

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_NUM_CVS (INT32)

The number of Vertiq IFCI parameters to use.

The total number of IFCI control variables being used across all connected modules

Reboot	minValue	maxValue	increment	default	unit
✓	0	16		0

VTQ_PULSE_V_LIM (FLOAT)

Module Param - Max pulsing voltage limit when in Voltage Limit Mode.

This sets the max pulsing voltage limit when in Voltage Limit Mode.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_PULSE_V_MODE (INT32)

Module Param - 0 = Supply Voltage Mode, 1 = Voltage Limit Mode.

Supply Voltage Mode means that the maximum voltage applied to pulsing is the supplied voltage. Voltage Limit Mode indicates that PULSE_VOLT_LIM is the maximum allowed voltage to apply towards pulsing.

Values:

• 0: Supply Voltage Mode
• 1: Voltage Limit Mode

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_REDO_READ (INT32)

Reinitialize the target module's values into the PX4 parameters.

Setting this value to true will reinitialize PX4's IQUART connected parameters to the value stored on the currently targeted motor. This is especially useful if your flight controller powered on before your connected modules

Reboot	minValue	maxValue	increment	default	unit
				Disabled (0)

VTQ_TELEM_IDS_1 (INT32)

Module IDs [0, 31] that you would like to request telemetry from.

The module IDs [0, 31] that should be asked for telemetry. The data received from these IDs will be published via the esc_status topic.

Bitmask:

• 0: Module ID 0
• 1: Module ID 1
• 2: Module ID 2
• 3: Module ID 3
• 4: Module ID 4
• 5: Module ID 5
• 6: Module ID 6
• 7: Module ID 7
• 8: Module ID 8
• 9: Module ID 9
• 10: Module ID 10
• 11: Module ID 11
• 12: Module ID 12
• 13: Module ID 13
• 14: Module ID 14
• 15: Module ID 15
• 16: Module ID 16
• 17: Module ID 17
• 18: Module ID 18
• 19: Module ID 19
• 20: Module ID 20
• 21: Module ID 21
• 22: Module ID 22
• 23: Module ID 23
• 24: Module ID 24
• 25: Module ID 25
• 26: Module ID 26
• 27: Module ID 27
• 28: Module ID 28
• 29: Module ID 29
• 30: Module ID 30
• 31: Module ID 31

Reboot	minValue	maxValue	increment	default	unit
✓	0	4294967295		0

VTQ_TELEM_IDS_2 (INT32)

Module IDs [32, 62] that you would like to request telemetry from.

The module IDs [32, 62] that should be asked for telemetry. The data received from these IDs will be published via the esc_status topic.

Bitmask:

• 0: Module ID 32
• 1: Module ID 33
• 2: Module ID 34
• 3: Module ID 35
• 4: Module ID 36
• 5: Module ID 37
• 6: Module ID 38
• 7: Module ID 39
• 8: Module ID 40
• 9: Module ID 41
• 10: Module ID 42
• 11: Module ID 43
• 12: Module ID 44
• 13: Module ID 45
• 14: Module ID 46
• 15: Module ID 47
• 16: Module ID 48
• 17: Module ID 49
• 18: Module ID 50
• 19: Module ID 51
• 20: Module ID 52
• 21: Module ID 53
• 22: Module ID 54
• 23: Module ID 55
• 24: Module ID 56
• 25: Module ID 57
• 26: Module ID 58
• 27: Module ID 59
• 28: Module ID 60
• 29: Module ID 61
• 30: Module ID 62

Reboot	minValue	maxValue	increment	default	unit
✓	0	2147483647		0

VTQ_THROTTLE_CVI (INT32)

Module Param - The module's Throttle Control Value Index.

This represents the Control Value Index where the targeted module will look for throttle commands

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

VTQ_TQUE_OFF_ANG (FLOAT)

Module Param - Offsets pulse angle to allow for mechanical properties.

This offsets where the pulse starts around the motor to allow for propeller mechanical properties.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_TRGT_MOD_ID (INT32)

The Module ID of the module you would like to communicate with.

This is the value used as the target module ID of all configuration parameters (not operational parameters). The Vertiq module with the module ID matching this value will react to all get and set requests from PX4. Any Vertiq client made with dynamic object IDs should use this value to instantiate itself.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_VELO_CUTOFF (FLOAT)

Module Param - The minimum velocity required to allow pulsing.

This is the velocity at which pulsing is allowed. Any velocity between VELOCITY_CUTOFF and -VELOCITY_CUTOFF will not pulse.

Reboot	minValue	maxValue	increment	default	unit
				0

VTQ_X_CVI (INT32)

Module Param - CVI for the X rectangular coordinate.

This represents the Control Value Index where the targeted module will look for the X rectangular coordinate.

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

VTQ_Y_CVI (INT32)

Module Param - CVI for the Y rectangular coordinate.

This represents the Control Value Index where the targeted module will look for the Y rectangular coordinate.

Reboot	minValue	maxValue	increment	default	unit
	0	255		0

VTQ_ZERO_ANGLE (FLOAT)

Module Param - The encoder angle at which theta is zero.

The encoder angle at which theta is zero. Adjust this number to change the location of 0 phase when pulsing.

Reboot	minValue	maxValue	increment	default	unit
				0

Zenoh

ZENOH_ENABLE (INT32)

Zenoh Enable.

Zenoh

Reboot	minValue	maxValue	increment	default	unit
✓				0

Miscellaneous

SCH16T_ACC_FILT (INT32)

Accel filter settings.

Values:

• 0: 13 Hz
• 1: 30 Hz
• 2: 68 Hz
• 3: 235 Hz
• 4: 280 Hz
• 5: 370 Hz
• 6: No filter

Reboot	minValue	maxValue	increment	default	unit
✓				6

SCH16T_DECIM (INT32)

Gyro and Accel decimation settings.

Values:

• 0: None
• 1: 5900 Hz
• 2: 2950 Hz
• 3: 1475 Hz
• 4: 738 Hz

Reboot	minValue	maxValue	increment	default	unit
✓				4

SCH16T_GYRO_FILT (INT32)

Gyro filter settings.

Values:

• 0: 13 Hz
• 1: 30 Hz
• 2: 68 Hz
• 3: 235 Hz
• 4: 280 Hz
• 5: 370 Hz
• 6: No filter

Reboot	minValue	maxValue	increment	default	unit
✓				2

SF1XX_MODE (INT32)

Lightware SF1xx/SF20/LW20 Operation Mode.

Values:

• 0: Disabled
• 1: Enabled
• 2: Enabled in VTOL MC mode, listen to request from system in FW mode

Reboot	minValue	maxValue	increment	default	unit
	0	2		1

UUV_SKIP_CTRL (INT32)

Skip the controller.

Values:

• 0: use the module's controller
• 1: skip the controller and feedthrough the setpoints

Reboot	minValue	maxValue	increment	default	unit
				0