Airspeed Selector: Gate size for sideslip angle fusion

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

Airspeed Selector: Wind estimator sideslip measurement noise

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

Enable checks on airspeed sensors

Comment: If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY > 0.

Reboot required: true

Enable fallback to secondary airspeed measurement

Comment: If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).

• 0: To other airspeed sensor (if one valid), else disable airspeed
• 1: To other airspeed sensor (if one valid), else to ground-windspeed

Reboot required: true

Airspeed failsafe consistency threshold (Experimental)

Comment: This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. 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.

Airspeed failsafe consistency delay (Experimental)

Comment: This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.

Airspeed failsafe stop delay (Experimental)

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

Airspeed failsafe start delay (Experimental)

Comment: Delay before switching back to using airspeed sensor if checks indicate sensor is good.

Index or primary airspeed measurement source

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

Reboot required: true

Airspeed scale (scale from IAS to CAS/EAS)

Comment: Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.

Automatic airspeed scale estimation on

Comment: Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.

Airspeed Selector: Wind estimator true airspeed scale process noise

Comment: Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.

Airspeed fault detection stall airspeed. (Experimental)

Comment: This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation.

Airspeed Selector: Gate size for true airspeed fusion

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

Airspeed Selector: Wind estimator true airspeed measurement noise

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

Airspeed Selector: Wind estimator wind process noise

Comment: Wind process noise of the internal wind estimator(s) of the airspeed selector.

Acceleration compensation based on GPS velocity

Gyro bias limit

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

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

Magnetic declination, in degrees

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

Automatic GPS based declination compensation

Complimentary filter accelerometer weight

Complimentary filter external heading weight

Complimentary filter gyroscope bias weight

Complimentary filter magnetometer weight

Comment: Set to 0 to avoid using the magnetometer.

Battery 1 ADC Channel

Comment: 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 required: True

Battery 1 current per volt (A/V)

Comment: The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot required: True

Battery 1 capacity

Comment: Defines the capacity of battery 1 in mAh.

Reboot required: True

Number of cells for battery 1

Comment: Defines the number of cells the attached battery consists of.

• 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 required: True

Explicitly defines the per cell internal resistance for battery 1

Comment: If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.

Reboot required: True

Battery 1 monitoring source

Comment: 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.

• 0: Power Module
• 1: External

Reboot required: True

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: True

Battery 1 voltage divider (V divider)

Comment: This is the divider from battery 1 voltage to 3.3V 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 required: True

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: True

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.

Reboot required: True

Battery 2 ADC Channel

Comment: 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 required: True

Battery 2 current per volt (A/V)

Comment: The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Reboot required: True

Battery 2 capacity

Comment: Defines the capacity of battery 2 in mAh.

Reboot required: True

Number of cells for battery 2

Comment: Defines the number of cells the attached battery consists of.

• 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 required: True

Explicitly defines the per cell internal resistance for battery 2

Comment: If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.

Reboot required: True

Battery 2 monitoring source

Comment: 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.

• 0: Power Module
• 1: External

Reboot required: True

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: True

Battery 2 voltage divider (V divider)

Comment: This is the divider from battery 2 voltage to 3.3V 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 required: True

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: True

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.

Reboot required: True

This parameter is deprecated. Please use BAT1_ADC_CHANNEL

This parameter is deprecated. Please use BAT1_A_PER_V

This parameter is deprecated. Please use BAT1_CAPACITY instead

Comment: Defines the capacity of battery 1.

Reboot required: true

Scaling from ADC counts to volt on the ADC input (battery current)

Comment: This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Scaling from ADC counts to volt on the ADC input (battery voltage)

Comment: This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Critical threshold

Comment: 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 required: true

Emergency threshold

Comment: 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 required: true

Low threshold

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

Reboot required: true

This parameter is deprecated. Please use BAT1_N_CELLS instead

Comment: Defines the number of cells the attached battery consists of.

• 0: Unconfigured
• 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 required: true

This parameter is deprecated. Please use BAT1_R_INTERNAL instead

Comment: If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.

Reboot required: true

This parameter is deprecated. Please use BAT1_SOURCE instead

Comment: Battery 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.

• 0: Power Module
• 1: External

This parameter is deprecated. Please use BAT1_V_CHARGED instead

Comment: Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: true

This parameter is deprecated. Please use BAT1_V_DIV

This parameter is deprecated. Please use BAT1_V_EMPTY instead

Comment: Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: true

This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead

Comment: This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.

Reboot required: true

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

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

Camera strobe delay

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

Camera capture edge

• 0: Falling edge
• 1: Rising edge

Reboot required: true

Camera capture feedback

Comment: Enables camera capture feedback

Reboot required: true

Camera capture timestamping mode

Comment: Change time measurement

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

要求重启:是

Camera trigger activation time

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

Camera trigger distance

Comment: Sets the distance at which to trigger the camera.

Camera trigger Interface

Comment: Selects the trigger interface

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

Reboot required: true

Camera trigger interval

Comment: This parameter sets the time between two consecutive trigger events

Camera trigger mode

• 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 required: true

Camera trigger pin

Comment: Selects which FMU pin is used (range: AUX1-AUX6 on Pixhawk controllers with an I/O board, MAIN1-MAIN6 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is < .2 uS.

Reboot required: true

Camera trigger polarity

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

• 0: Active low
• 1: Active high

PWM neutral output on trigger pin

Reboot required: true

PWM output to trigger shot

Reboot required: true

Circuit breaker for airspeed sensor

Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

Circuit breaker for disabling buzzer

Comment: 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 required: true

Circuit breaker for engine failure detection

Comment: Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

Circuit breaker for flight termination

Comment: 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 and geofence safety logic.

Reboot required: true

Circuit breaker for IO safety

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

Reboot required: true

Circuit breaker for rate controller output

Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

Circuit breaker for power supply check

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

Reboot required: true

Circuit breaker for USB link check

Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

Circuit breaker for position error check

Comment: Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

Circuit breaker for arming in fixed-wing mode check

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

Reboot required: true

Arm authorization parameters, this uint32_t will be split between starting from the LSB: - 8bits to authorizer system id - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods. - 7bits to authentication method - one arm = 0 - two step arm = 1 * the MSB bit is not used to avoid problems in the conversion between int and uint

Comment: Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm

Require arm authorization to arm

Comment: The default allows to arm the vehicle without a arm authorization.

Require all the ESCs to be detected to arm

Comment: This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.

Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming. Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful

Maximum value of EKF gyro delta angle bias estimate that will allow arming

Maximum EKF height innovation test ratio that will allow arming

Maximum EKF position innovation test ratio that will allow arming

Maximum EKF velocity innovation test ratio that will allow arming

Maximum EKF yaw innovation test ratio that will allow arming

Maximum accelerometer inconsistency between IMU units that will allow arming

Maximum rate gyro inconsistency between IMU units that will allow arming

Maximum magnetic field inconsistency between units that will allow arming Set -1 to disable the check

Enable mag strength preflight check

Comment: Deny arming if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)

Require valid mission to arm

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

Arm switch is only a button

Comment: The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.

Allow arming without GPS

Comment: The default allows to arm the vehicle without GPS signal.

Time-out for auto disarm after landing

Comment: 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.

Time-out for auto disarm if too slow to takeoff

Comment: A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.

Datalink loss time threshold

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

Engine Failure Current/Throttle Threshold

Comment: Engine failure triggers only below this current value

Engine Failure Throttle Threshold

Comment: Engine failure triggers only above this throttle value

Engine Failure Time Threshold

Comment: Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time

Next flight UUID

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

First flightmode slot (1000-1160)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

Second flightmode slot (1160-1320)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

Third flightmode slot (1320-1480)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

Fourth flightmode slot (1480-1640)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

Fifth flightmode slot (1640-1800)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

Sixth flightmode slot (1800-2000)

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

• -1: Unassigned
• 0: Manual
• 1: Altitude
• 2: Position
• 3: Mission
• 4: Hold
• 5: Return
• 6: Acro
• 7: Offboard
• 8: Stabilized
• 9: Rattitude
• 10: Takeoff
• 11: Land
• 12: Follow Me

User Flight Profile

Comment: 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).

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

High Latency Datalink loss time threshold

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

High Latency Datalink regain time threshold

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

Home set horizontal threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

Home set vertical threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

Timeout value for disarming when kill switch is engaged

Battery failsafe mode

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

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

Enable Motor Testing

Comment: If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that allows spinning the motors for testing purposes.

Set avoidance system bootup timeout

Comment: The avoidance system running on the companion computer is expected to boot within this time and start providing trajectory points. If no avoidance system is detected a MAVLink warning message is sent.

Set offboard loss failsafe mode

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

• -1: Disabled
• 0: Land mode
• 1: Hold mode
• 2: Return mode
• 3: Terminate
• 4: Lockdown

Set offboard loss failsafe mode when RC is available

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

• -1: Disabled
• 0: Position mode
• 1: Altitude mode
• 2: Manual
• 3: Return mode
• 4: Land mode
• 5: Hold mode
• 6: Terminate
• 7: Lockdown

Time-out to wait when offboard connection is lost before triggering offboard lost action. See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

Position control navigation loss response

Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.

• 0: Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
• 1: Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.

Loss of position failsafe activation delay

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

Reboot required: true

Horizontal position error threshold

Comment: 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.

Vertical position error threshold

Comment: This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

Loss of position probation gain factor

Comment: This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.

Reboot required: true

Loss of position probation delay at takeoff

Comment: The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.

Reboot required: true

Condition to enter prearmed mode

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

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

RC input arm/disarm command duration

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

RC control input mode

Comment: The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

• 0: RC Transmitter
• 1: Joystick/No RC Checks
• 2: Virtual RC by Joystick

RC loss time threshold

Comment: After this amount of seconds without RC connection the rc lost flag is set to true

Enable RC stick override of auto and/or offboard modes

Comment: When RC stick override is enabled, moving the RC sticks immediately gives control back to the pilot (switches to manual position mode): bit 0: Enable for auto modes (except for in critical battery reaction), bit 1: Enable for offboard mode. Only has an effect on multicopters, and VTOLS in multicopter mode.

• 0: Enable override in auto modes
• 1: Enable override in offboard mode

RC stick override threshold

Comment: If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.

Horizontal velocity error threshold

Comment: 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.

Configure DShot

Comment: This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.

• 0: Disable (use PWM/Oneshot)
• 150: DShot150
• 300: DShot300
• 600: DShot600
• 1200: DShot1200

Reboot required: True

Minimum DShot Motor Output

Comment: 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.

Serial Configuration for DShot Driver

Comment: Configure on which serial port to run DShot Driver.

• 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

Reboot required: true

Number of magnetic poles of the motors

Comment: 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.

Airfield home alt

Comment: Altitude of airfield home waypoint

Airfield home Lat

Comment: Latitude of airfield home waypoint

Airfield home Lon

Comment: Longitude of airfield home waypoint

Airfield home wait time

Comment: The amount of time in seconds the system should wait at the airfield home waypoint

Skip comms hold wp

Comment: If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home

Comms hold alt

Comment: Altitude of comms hold waypoint

Comms hold Lat

Comment: Latitude of comms hold waypoint

Comms hold Lon

Comment: Longitude of comms hold waypoint

Comms hold wait time

Comment: The amount of time in seconds the system should wait at the comms hold waypoint

Number of allowed Datalink timeouts

Comment: After more than this number of data link timeouts the aircraft returns home directly

1-sigma IMU accelerometer switch-on bias

Reboot required: true

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

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 delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates

Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value

Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. 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

Process noise for IMU accelerometer bias prediction

Accelerometer noise for covariance prediction

Integer bitmask controlling data fusion and aiding methods

Comment: Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.

• 0: use GPS
• 1: use optical flow
• 2: inhibit IMU bias estimation
• 3: vision position fusion
• 4: vision yaw fusion
• 5: multi-rotor drag fusion
• 6: rotate external vision
• 7: GPS yaw fusion
• 8: vision velocity fusion

Reboot required: true

1-sigma tilt angle uncertainty after gravity vector alignment

Reboot required: true

Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion

Upper limit on airspeed along individual axes used to correct baro for position error effects

Airspeed measurement delay relative to IMU measurements

Reboot required: true

Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements

Reboot required: true

Barometer measurement delay relative to IMU measurements

Reboot required: true

Gate size for barometric and GPS height fusion

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

Measurement noise for barometric altitude

X-axis ballistic coefficient used by the multi-rotor specific drag force model. This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence

Y-axis ballistic coefficient used by the multi-rotor specific drag force model. This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence

Gate size for synthetic sideslip fusion

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

Noise for synthetic sideslip fusion

Integer bitmask controlling handling of magnetic declination

Comment: 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. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.

• 0: use geo_lookup declination
• 1: save EKF2_MAG_DECL on disarm
• 2: use declination as an observation

Reboot required: true

Specific drag force observation noise variance used by the multi-rotor specific drag force model. Increasing it makes the multi-rotor wind estimates adjust more slowly

Measurement noise for airspeed fusion

Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message

Gate size for vision position fusion Sets the number of standard deviations used by the innovation consistency test

Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message

Gate size for vision velocity estimate fusion

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

Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message

Vision Position Estimator delay relative to IMU measurements

Reboot required: true

Whether to set the external vision observation noise from the parameter or from vision message

Comment: If set to true the observation noise is set from the parameters directly, if set to false the measurement noise is taken from the vision message and the parameter are used as a lower bound.

X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)

Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)

Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)

Boolean determining if synthetic sideslip measurements should fused

Comment: A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.

1-sigma IMU gyro switch-on bias

Reboot required: true

Baro deadzone range for height fusion

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

Height above ground level for ground effect zone

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

Integer bitmask controlling GPS checks

Comment: Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

• 0: Min sat count (EKF2_REQ_NSATS)
• 1: Min PDOP (EKF2_REQ_PDOP)
• 2: Max horizontal position error (EKF2_REQ_EPH)
• 3: Max vertical position error (EKF2_REQ_EPV)
• 4: Max speed error (EKF2_REQ_SACC)
• 5: Max horizontal position rate (EKF2_REQ_HDRIFT)
• 6: Max vertical position rate (EKF2_REQ_VDRIFT)
• 7: Max horizontal speed (EKF2_REQ_HDRIFT)
• 8: Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)

GPS measurement delay relative to IMU measurements

Reboot required: true

Multi GPS Blending Control Mask

Comment: 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

• 0: use speed accuracy
• 1: use hpos accuracy
• 2: use vpos accuracy

X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)

Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)

Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)

Gate size for GPS horizontal position fusion

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

Measurement noise for gps position

Multi GPS Blending Time Constant

Comment: 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.

Gate size for GPS velocity fusion

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

Measurement noise for gps horizontal velocity

Process noise for IMU rate gyro bias prediction

Rate gyro noise for covariance prediction

Gate size for magnetic heading fusion

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

Measurement noise for magnetic heading fusion

Determines the primary source of height data used by the EKF

Comment: The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.

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

Reboot required: true

Device id of IMU

Comment: Set to 0 to use system selected (sensor_combined) IMU, otherwise set to the device id of the desired IMU (vehicle_imu).

• 0: System Primary

X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)

Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)

Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)

ID of Magnetometer the learned bias is for

Reboot required: true

Learned value of magnetometer X axis bias. This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

Reboot required: true

Learned value of magnetometer Y axis bias. This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

Reboot required: true

Learned value of magnetometer Z axis bias. This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated

Reboot required: true

Maximum fraction of learned mag bias saved at each disarm. Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0="" <="" p="">

State variance assumed for magnetometer bias storage. This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster

Reboot required: true

Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion

Process noise for body magnetic field prediction

Magnetic field strength test selection

Comment: When set, the EKF checks the strength of the magnetic field to decide whether the magnetometer data is valid. If GPS 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.

Magnetic declination

Magnetometer measurement delay relative to IMU measurements

Reboot required: true

Process noise for earth magnetic field prediction

Gate size for magnetometer XYZ component fusion

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

Measurement noise for magnetometer 3-axis fusion

Type of magnetometer fusion

Comment: Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer 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 with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.

• 0: Automatic
• 1: Magnetic heading
• 2: 3-axis
• 3: VTOL custom
• 4: MC custom
• 5: None

Reboot required: true

Yaw rate threshold used by automatic selection of magnetometer fusion method. This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion

Minimum time of arrival delta between non-IMU observations before data is downsampled. Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information

Reboot required: true

Expected range finder reading when on ground

Comment: If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_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 avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.

Vehicle movement test threshold

Comment: Scales the threshold tests applied to IMU data used to determine if the vehicle is static or moving. See parameter descriptions for EKF2_GPS_CHECK and EKF2_MAG_TYPE for further information on the functionality affected by this parameter.

Measurement noise for non-aiding position hold

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

Optical flow measurement delay relative to IMU measurements Assumes measurement is timestamped at trailing edge of integration period

Reboot required: true

Gate size for optical flow fusion

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

Measurement noise for the optical flow sensor

Comment: (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN

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

X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)

Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)

Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)

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

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

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

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

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

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

Required EPH to use GPS

Required EPV to use GPS

Required GPS health time on startup

Comment: 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 required: true

Maximum horizontal drift speed to use GPS

Required satellite count to use GPS

Required PDOP to use GPS

Required speed accuracy to use GPS

Maximum vertical drift speed to use GPS

Range sensor aid

Comment: If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude 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. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also 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.

• 0: Range aid disabled
• 1: Range aid enabled

Maximum absolute altitude (height above ground level) allowed for range aid mode

Comment: If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

Gate size used for innovation consistency checks for range aid fusion

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

Maximum horizontal velocity allowed for range aid mode

Comment: If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).

Range finder measurement delay relative to IMU measurements

Reboot required: true

Gate size for range finder fusion

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

Measurement noise for range finder fusion

Range sensor pitch offset

X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)

Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)

Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)

Range finder range dependant noise scaler

Comment: Specifies the increase in range finder noise with range.

Gate size for TAS fusion

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

Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states

Time constant of the velocity output prediction and smoothing filter

Magnitude of terrain gradient

Terrain altitude process noise - accounts for instability in vehicle height estimate

Process noise for wind velocity prediction

RC Loss Alarm

Comment: 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 required: true

Status Display

Comment: 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 required: true

Acro body x max rate

Comment: This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.

Acro body y max rate

Comment: This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.

Acro body z max rate

Comment: This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.

Airspeed mode

Comment: For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading

• 0: Normal (use airspeed if available)
• 1: Airspeed disabled

Whether to scale throttle by battery power level

Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.

Pitch trim increment for flaps configuration

Comment: This increment is added to the pitch trim whenever flaps are fully deployed.

Pitch trim increment at maximum airspeed

Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.

Pitch trim increment at minimum airspeed

Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.

Roll trim increment for flaps configuration

Comment: This increment is added to TRIM_ROLL whenever flaps are fully deployed.

Roll trim increment at maximum airspeed

Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.

Roll trim increment at minimum airspeed

Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.

Yaw trim increment at maximum airspeed

Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.

Yaw trim increment at minimum airspeed

Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.

Scale factor for flaperons

Flaps setting during landing

Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during landing

Scale factor for flaps

Flaps setting during take-off

Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off

Max manual pitch

Comment: Max pitch for manual control in attitude stabilized mode

Manual pitch scale

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

Max manual roll

Comment: Max roll for manual control in attitude stabilized mode

Manual roll scale

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

Manual yaw scale

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

Pitch rate feed forward

Comment: Direct feed forward from rate setpoint to control surface output

Pitch rate integrator gain

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

Pitch rate integrator limit

Comment: The portion of the integrator part in the control surface deflection is limited to this value

Pitch rate proportional gain

Comment: This defines how much the elevator input will be commanded depending on the current body angular rate error.

Pitch setpoint offset

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

Maximum negative / down pitch rate

Comment: This limits the maximum pitch down up angular rate the controller will output (in degrees per second).

Maximum positive / up pitch rate

Comment: This limits the maximum pitch up angular rate the controller will output (in degrees per second).

Attitude pitch time constant

Comment: This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

Threshold for Rattitude mode

Comment: Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints

Roll control to yaw control feedforward gain

Comment: 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 (rudder, airbrakes, ...) to counteract this effect.

Roll rate feed forward

Comment: Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.

Roll rate integrator Gain

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

Roll integrator anti-windup

Comment: The portion of the integrator part in the control surface deflection is limited to this value.

Roll rate proportional Gain

Comment: This defines how much the aileron input will be commanded depending on the current body angular rate error.

Roll setpoint offset

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

Maximum roll rate

Comment: This limits the maximum roll rate the controller will output (in degrees per second).

Attitude Roll Time Constant

Comment: This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.

Wheel steering rate feed forward

Comment: Direct feed forward from rate setpoint to control surface output

Wheel steering rate integrator gain

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

Wheel steering rate integrator limit

Comment: The portion of the integrator part in the control surface deflection is limited to this value

Wheel steering rate proportional gain

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

Enable wheel steering controller

Maximum wheel steering rate

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

Yaw rate feed forward

Comment: Direct feed forward from rate setpoint to control surface output

Yaw rate integrator gain

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

Yaw rate integrator limit

Comment: The portion of the integrator part in the control surface deflection is limited to this value

Yaw rate proportional gain

Comment: This defines how much the rudder input will be commanded depending on the current body angular rate error.

Maximum yaw rate

Comment: This limits the maximum yaw rate the controller will output (in degrees per second).

Climbout Altitude difference

Comment: If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).

L1 damping

Comment: Damping factor for L1 control.

L1 period

Comment: This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.

L1 controller roll slew rate limit

Comment: The maxium change in roll angle setpoint per second.

Min. airspeed scaling factor for landing

Comment: Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC

Landing slope angle

Early landing configuration deployment

Comment: When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.

Landing flare altitude (relative to landing altitude)

Flare, maximum pitch

Comment: Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached

Flare, minimum pitch

Comment: Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached

Landing heading hold horizontal distance. Set to 0 to disable heading hold

Throttle time constant factor for landing

Comment: Set this parameter to less than 1.0 to make the TECS throttle loop react faster during landing than during normal flight (i.e. giving efficiency and low motor wear at high altitudes but control accuracy during landing). During landing, the TECS throttle time constant (FW_T_THRO_CONST) is multiplied by this value.

Landing throttle limit altitude (relative landing altitude)

Comment: Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.

Use terrain estimate during landing

Comment: This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position).

Positive pitch limit

Comment: The maximum positive pitch the controller will output.

Negative pitch limit

Comment: The minimum negative pitch the controller will output.

Controller roll limit

Comment: The maximum roll the controller will output.

Scale throttle by pressure change

Comment: Automatically adjust throttle to account for decreased air density at higher altitudes. Start with a scale factor of 1.0 and adjust for different propulsion systems. When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges. The default value of 0 will disable scaling.

Cruise throttle

Comment: This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.

Idle throttle

Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.

Throttle limit during landing below throttle limit altitude

Comment: During the flare of the autonomous landing process, this value will be set as throttle limit when the aircraft altitude is below FW_LND_TLALT.

Throttle limit max

Comment: This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.

Throttle limit min

Comment: This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.

Throttle max slew rate

Comment: Maximum slew rate for the commanded throttle

Launch detection

Catapult accelerometer threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

Motor delay

Comment: Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate

Maximum pitch before the throttle is powered up (during motor delay phase)

Comment: This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).

Catapult time threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

Maximum Airspeed

Comment: If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.

Minimum Airspeed

Comment: If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.

Cruise Airspeed

Comment: The fixed wing controller tries to fly at this airspeed.

Minimum groundspeed

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

Maximum climb rate

Comment: This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.

Height rate feed forward

Height rate proportional factor

Integrator gain

Comment: This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.

Pitch damping factor

Comment: This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.

Roll -> Throttle feedforward

Comment: Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.

Maximum descent rate

Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.

Minimum descent rate

Comment: This is the 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.

Speed <--> Altitude priority

Comment: This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).

Complementary filter "omega" parameter for speed

Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.

Speed rate P factor

TECS Throttle time constant

Comment: This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Throttle damping factor

Comment: This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.

TECS time constant

Comment: This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Maximum vertical acceleration

Comment: This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.

Enable PWM input on AUX5 or MAIN5 (depending on board) for engaging failsafe from an external automatic trigger system (ATS)

Comment: External ATS is required by ASTM F3322-18.

Reboot required: true

The PWM threshold from external automatic trigger system for engaging failsafe

Comment: External ATS is required by ASTM F3322-18.

FailureDetector Max Pitch

Comment: Maximum pitch angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check

Pitch failure trigger time

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

FailureDetector Max Roll

Comment: Maximum roll angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check

Roll failure trigger time

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

Distance to follow target from

Comment: The distance in meters to follow the target at

Side to follow target from

Comment: The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)

Dynamic filtering algorithm responsiveness to target movement lower numbers increase the responsiveness to changing long lat but also ignore less noise

Minimum follow target altitude

Comment: The minimum height in meters relative to home for following a target

Serial Configuration for Main GPS

Comment: Configure on which serial port to run Main GPS.

• 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

Reboot required: true

Serial Configuration for Secondary GPS

Comment: Configure on which serial port to run Secondary GPS.

• 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

Reboot required: true

Dump GPS communication to a file

Comment: 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.

• 0: Disable
• 1: Enable

u-blox GPS dynamic platform model

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

• 2: stationary
• 4: automotive
• 6: airborne with <1g acceleration="" <="" li="">
• 7: airborne with <2g acceleration="" <="" li="">
• 8: airborne with <4g acceleration="" <="" li="">

Reboot required: true

Heading/Yaw offset for dual antenna GPS

Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.

Reboot required: true

Loiter time

Comment: The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.

Fixed pitch angle

Comment: Pitch in degrees during the open loop loiter

Fixed bank angle

Comment: Roll in degrees during the loiter

Thrust

Comment: Thrust value which is set during the open loop loiter

Geofence violation action

Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.

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

Geofence altitude mode

Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL

• 0: WGS84
• 1: AMSL

Geofence counter limit

Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered

Max horizontal distance in meters

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

Max vertical distance in meters

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

Geofence source

Comment: 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

• 0: GPOS
• 1: GPS

Gate size for acceleration fusion

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

1-sigma initial hover thrust uncertainty

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

Hover thrust process noise

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

Serial Configuration for Iridium (with MAVLink)

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

• 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

Reboot required: true

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

Iridium SBD session timeout

Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message Value 0 turns the functionality off

Airspeed max

Comment: Maximum airspeed allowed in the landed state (m/s)

Fixedwing max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

Fixedwing max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

Fixedwing max horizontal acceleration

Comment: Maximum horizontal (x,y body axes) acceleration allowed in the landed state (m/s^2)

Maximum altitude for multicopters

Comment: The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.

Multicopter specific force threshold

Comment: Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection

Multicopter free-fall trigger time

Comment: Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h

Low throttle detection threshold

Comment: Defines the commanded throttle value below which the land detector considers the vehicle to have "low thrust". This is one condition that is used to detect the ground contact state. The value is calculated as val = (MPC_THR_HOVER - MPC_THR_MIN) * LNDMC_LOW_T_THR + MPC_THR_MIN Increase this value if the system takes long time to detect landing.

Multicopter max rotation

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

Multicopter max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

Multicopter max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

Total flight time in microseconds

Comment: 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.

Total flight time in microseconds

Comment: 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.

Acceleration uncertainty

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

Landing target measurement uncertainty

Comment: Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.

Landing target mode

Comment: 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.

• 0: Moving
• 1: Stationary

Initial landing target position uncertainty

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

Scale factor for sensor measurements in sensor x axis

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

Scale factor for sensor measurements in sensor y axis

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

Initial landing target velocity uncertainty

Comment: Initial variance of the relative landing target velocity in x and y direction

Accelerometer xy noise density

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

Accelerometer z noise density

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

Barometric presssure altitude z standard deviation

Max EPH allowed for GPS initialization

Max EPV allowed for GPS initialization

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

Flow gyro high pass filter cut off frequency

Optical flow z offset from center

Optical flow minimum quality threshold

Optical flow rotation (roll/pitch) noise gain

Optical flow angular velocity noise gain

Optical flow scale

Integer bitmask controlling data fusion

Comment: 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)

• 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

GPS delay compensaton

GPS xy velocity standard deviation. EPV used if greater than this value

GPS z velocity standard deviation

Minimum GPS xy standard deviation, uses reported EPH if greater

Minimum GPS z standard deviation, uses reported EPV if greater

Land detector xy velocity standard deviation

Land detector z standard deviation

Local origin latitude for nav w/o GPS

Lidar z offset from center of vehicle +down

Lidar z standard deviation

Local origin longitude for nav w/o GPS

Minimum landing target standard covariance, uses reported covariance if greater

Accel bias propagation noise density

Position propagation noise density

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

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

Velocity propagation noise density

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

Sonar z offset from center of vehicle +down

Sonar z standard deviation

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

Vicon position standard deviation

Vision delay compensaton

Comment: Set to zero to enable automatic compensation from measurement timestamps

Vision xy standard deviation

Vision z standard deviation

Required velocity xy standard deviation to publish position

Cut frequency for state publication

Required z standard deviation to publish altitude/ terrain

Serial Configuration for MAVLink (instance 0)

Comment: Configure on which serial port to run MAVLink.

• 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

Reboot required: true

Enable MAVLink Message forwarding for instance 0

Comment: 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 required: True

MAVLink Mode for instance 0

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

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision

Reboot required: True

Enable software throttling of mavlink on instance 0

Comment: 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 required: True

Maximum MAVLink sending rate for instance 0

Comment: 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 required: True

Serial Configuration for MAVLink (instance 1)

Comment: Configure on which serial port to run MAVLink.

• 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

Reboot required: true

Enable MAVLink Message forwarding for instance 1

Comment: 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 required: True

MAVLink Mode for instance 1

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

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision

Reboot required: True

Enable software throttling of mavlink on instance 1

Comment: 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 required: True

Maximum MAVLink sending rate for instance 1

Comment: 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 required: True

Serial Configuration for MAVLink (instance 2)

Comment: Configure on which serial port to run MAVLink.

• 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

Reboot required: true

Enable MAVLink Message forwarding for instance 2

Comment: 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 required: True

MAVLink Mode for instance 2

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

• 0: Normal
• 1: Custom
• 2: Onboard
• 3: OSD
• 4: Magic
• 5: Config
• 7: Minimal
• 8: External Vision

Reboot required: True

Enable software throttling of mavlink on instance 2

Comment: 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 required: True

Maximum MAVLink sending rate for instance 2

Comment: 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 required: True

Broadcast heartbeats on local network

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

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

MAVLink component ID

Reboot required: true

Forward external setpoint messages

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

Parameter hash check

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

Hearbeat message forwarding

Comment: The mavlink hearbeat 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.

Activate ODOMETRY loopback

Comment: If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry' serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.

MAVLink protocol version

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

Timeout in seconds for the RADIO_STATUS reports coming in

Comment: 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.

MAVLink SiK Radio ID

Comment: 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

MAVLink system ID

Reboot required: true

MAVLink airframe type

• 0: Generic micro air vehicle
• 1: Fixed wing aircraft
• 2: Quadrotor
• 3: Coaxial helicopter
• 4: Normal helicopter with tail rotor
• 5: Ground installation
• 6: Operator control unit / ground control station
• 7: Airship, controlled
• 8: Free balloon, uncontrolled
• 9: Rocket
• 10: Ground rover
• 11: Surface vessel, boat, ship
• 12: Submarine
• 13: Hexarotor
• 14: Octorotor
• 15: Tricopter
• 16: Flapping wing
• 17: Kite
• 18: Onboard companion controller
• 19: Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
• 20: Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
• 21: Tiltrotor VTOL
• 22: VTOL reserved 2
• 23: VTOL reserved 3
• 24: VTOL reserved 4
• 25: VTOL reserved 5
• 26: Onboard gimbal
• 27: Onboard ADSB peripheral

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

Comment: If set to 1 incoming HIL GPS messages are parsed.

Test mode (Identify) of MKBLCTRL Driver

Flag to enable obstacle avoidance

Action after TAKEOFF has been accepted

Comment: The mode transition after TAKEOFF has completed successfully.

• 0: Hold
• 1: Mission (if valid)

Altitude setpoint mode

Comment: 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode

• 0: Zero Order Hold
• 1: First Order Hold

Maximal horizontal distance from home to first waypoint

Comment: Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position.

Maximal horizontal distance between waypoint

Comment: Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.

Minimum Loiter altitude

Comment: This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude

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

Comment: 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.

• 0: Disable
• 1: Enable

Take-off altitude

Comment: This is the minimum altitude the system will take off to.

Take-off waypoint required

Comment: If set, the mission feasibility checker will check for a takeoff waypoint on the mission.

Max yaw error in degrees needed for waypoint heading acceptance

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

Comment: 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.

Yaw mode

Comment: Specifies the heading in Auto.

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

Acceptance Radius

Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.

Set data link loss failsafe mode

Comment: The data link 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. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

• 0: Disabled
• 1: Hold mode
• 2: Return mode
• 3: Land mode
• 4: Data Link Auto Recovery (CASA Outback Challenge rules)
• 5: Terminate
• 6: Lockdown

Force VTOL mode takeoff and land

FW Altitude Acceptance Radius before a landing

Comment: 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.

FW Altitude Acceptance Radius

Comment: Acceptance radius for fixedwing altitude.

Loiter radius (FW only)

Comment: Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).

MC Altitude Acceptance Radius

Comment: Acceptance radius for multicopter altitude.

Set RC loss failsafe mode

Comment: 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. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

• 0: Disabled
• 1: Hold mode
• 2: Return mode
• 3: Land mode
• 4: RC Auto Recovery (CASA Outback Challenge rules)
• 5: Terminate
• 6: Lockdown

RC Loss Loiter Time (CASA Outback Challenge rules)

Comment: The amount of time in seconds the system should loiter at current position before termination. Only applies if NAV_RCL_ACT is set to 2 (CASA Outback Challenge rules). Set to -1 to make the system skip loitering.

Set traffic avoidance mode

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

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

Set NAV TRAFFIC AVOID RADIUS MANNED

Comment: Defines the Radius where NAV TRAFFIC AVOID is Called For Manned Aviation

Set NAV TRAFFIC AVOID RADIUS

Comment: Defines the Radius where NAV TRAFFIC AVOID is Called For Unmanned Aviation

Multicopter air-mode

Comment: 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.

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

Motor Ordering

Comment: Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. When changing this, make sure to test the motor response without props first.

• 0: PX4
• 1: Betaflight / Cleanflight

Stabilize the mount (set to true for servo gimbal, false for passthrough). Does not affect MAVLINK_ROI input

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

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

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

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

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

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

Mavlink Component ID of the mount

Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID.

Mavlink System ID of the mount

Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID.

Mount input mode

Comment: RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.

• -1: DISABLED
• 0: AUTO
• 1: RC
• 2: MAVLINK_ROI
• 3: MAVLINK_DO_MOUNT

Reboot required: true

Mount output mode

Comment: AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)

• 0: AUX
• 1: MAVLINK

Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode)

Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode)

Offset for pitch channel output in degrees

Offset for roll channel output in degrees

Offset for yaw channel output in degrees

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

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

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

Max pitch rate

Comment: 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.

Pitch P gain

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

Threshold for Rattitude mode

Comment: Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints

Max roll rate

Comment: 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.

Roll P gain

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

Max yaw rate

Yaw P gain

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

Max yaw rate in auto mode

Comment: Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.

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

Comment: Only used in Position mode.

Minimum distance the vehicle should keep to all obstacles

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

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

Comment: Only used in Position mode.

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

Comment: Only used in Position mode.

Maximum vertical acceleration in velocity controlled modes down

Acceleration for auto and for manual

Comment: Note: In manual, this parameter is only used in MPC_POS_MODE 1.

Maximum horizontal acceleration for auto mode and for manual mode

Comment: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.

Maximum vertical acceleration in velocity controlled modes upward

Altitude control mode

Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.

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

Slow horizontal manual deceleration for manual mode

Comment: Note: This is only used when MPC_POS_MODE is set to 1.

Deadzone of sticks where position hold is enabled

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

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

Jerk limit in auto mode

Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.

Maximum jerk limit

Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.

Velocity-based jerk limit

Comment: If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle's velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle's motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: This is only used when MPC_POS_MODE is set to 1.

Altitude for 1. step of slow landing (descend)

Comment: Below this altitude: - descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" - horizontal velocity gets limited to a value between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY" for a smooth descent and landing experience. Value needs to be higher than "MPC_LAND_ALT2"

Altitude for 2. step of slow landing (landing)

Comment: Below this altitude descending and horizontal velocities get limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively. Value needs to be lower than "MPC_LAND_ALT1"

Landing descend rate

Maximum horizontal velocity during landing Set the value higher than the otherwise expected maximum to disable any slowdown

Minimum manual thrust

Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.

Maximal tilt angle in manual or altitude mode

Max manual yaw rate

Manual yaw rate input filter time constant Setting this parameter to 0 disables the filter

Manual-Position control sub-mode

Comment: The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).

• 0: Default position control
• 1: Smooth position control
• 2: Sport position control
• 3: Smooth position control (Velocity)

Enforced delay between arming and takeoff

Comment: For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.

Thrust curve in Manual Mode

Comment: This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.

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

Hover thrust

Comment: Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.

Maximum thrust in auto thrust control

Comment: Limit max allowed thrust

Minimum thrust in auto thrust control

Comment: It's recommended to set it > 0 to avoid free fall with zero thrust.

Maximum tilt angle in air

Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.

Maximum tilt during landing

Comment: Limits maximum tilt angle on landing.

Position control smooth takeoff ramp time constant

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

Takeoff climb rate

Low pass filter cut freq. for numerical velocity derivative

Maximum horizontal velocity setpoint for manual controlled mode If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX

Maximum horizontal velocity in mission

Comment: Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).

Manual position control stick exponential curve sensitivity

Comment: 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 (default) 1 Purely cubic input curve

Proportional gain for horizontal position error

Proportional gain for horizontal trajectory position error

Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again

Integral gain for horizontal velocity error

Comment: Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.

Maximum horizontal velocity

Comment: Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.

Proportional gain for horizontal velocity error

Manual control stick yaw rotation exponential curve

Comment: 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 (default) 1 Purely cubic input curve

Manual control stick vertical exponential curve

Comment: 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 (default) 1 Purely cubic input curve

Proportional gain for vertical position error

Differential gain for vertical velocity error

Integral gain for vertical velocity error

Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.

Maximum vertical descent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Maximum vertical ascent velocity

Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).

Proportional gain for vertical velocity error

Enable weathervane

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

Maximum yawrate the weathervane controller is allowed to demand

Acro mode Expo factor for Roll and Pitch

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

Acro mode Expo factor for Yaw

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

Max acro pitch rate default: 2 turns per second

Max acro roll rate default: 2 turns per second

Acro mode SuperExpo factor for Roll and Pitch

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

Acro mode SuperExpo factor for Yaw

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

Max acro yaw rate default 1.5 turns per second

Battery power level scaler

Comment: 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.

Cutoff frequency for the low pass filter on the D-term in the rate controller

Comment: 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 decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

Pitch rate D gain

Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Pitch rate feedforward

Comment: Improves tracking performance.

Pitch rate I gain

Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Pitch rate controller gain

Comment: 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.

Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Pitch rate integrator limit

Comment: 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.

Roll rate D gain

Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Roll rate feedforward

Comment: Improves tracking performance.

Roll rate I gain

Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Roll rate controller gain

Comment: 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.

Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Roll rate integrator limit

Comment: 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.

Yaw rate D gain

Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

Yaw rate feedforward

Comment: Improves tracking performance.

Yaw rate I gain

Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

Yaw rate controller gain

Comment: 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.

Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

Yaw rate integrator limit

Comment: 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.

Enable/Disable the ATXXX OSD Chip

Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

• 0: Disabled
• 1: NTSC
• 2: PAL

Reboot required: true

Minimum motor rise time (slew rate limit)

Comment: Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.

Set the disarmed PWM for the auxiliary 1 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 2 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 3 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 4 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 5 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 6 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 7 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for the auxiliary 8 output

Comment: This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used

Reboot required: true

Set the disarmed PWM for auxiliary outputs

Comment: This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.

Reboot required: true

Set the failsafe PWM for the auxiliary 1 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 2 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 3 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 4 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 5 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 6 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 7 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the failsafe PWM for the auxiliary 8 output

Comment: This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)

Reboot required: true

Set the maximum PWM for the auxiliary outputs

Comment: Set to 2000 for industry default or 2100 to increase servo travel.

Reboot required: true

Set the max PWM value for the auxiliary 1 output

Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

Reboot required: true

Set the max PWM value for the auxiliary 2 output

Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

Reboot required: true

Set the max PWM value for the auxiliary 3 output

Comment: This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used

Reboot required: true

Set the max PWM value for the auxiliary 4 output