PX4 Guide (v1.15)

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参数参照表 ​

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

TIP

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

UAVCAN 电机参数 ​

名称参数描述[Min, Max] (Incr.)默认值单位
ctl_bw (INT32)Speed controller bandwidth

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

[10, 250] 75Hz
ctl_dir (INT32)Reverse direction

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

[0, 1] 1
ctl_get (FLOAT)Speed (RPM) controller gain

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

[0.00, 1.00] 1C/rad
ctl_hz_idle (FLOAT)Idle speed (e Hz)

Comment: Idle speed (e Hz)

[0.0, 100.0] 3.5Hz
ctl_start_rate (INT32)Spin-up rate (e Hz/s)

Comment: Spin-up rate (e Hz/s)

[5, 1000] 251/s^2
esc_index (INT32)Index of this ESC in throttle command messages.

Comment: Index of this ESC in throttle command messages.

[0, 15] 0
id_ext_status (INT32)Extended status ID

Comment: Extended status ID

[1, 1000000] 20034
int_ext_status (INT32)Extended status interval (µs)

Comment: Extended status interval (µs)

[0, 1000000] 50000µs
int_status (INT32)ESC status interval (µs)

Comment: ESC status interval (µs)

[?, 1000000] 50000µs
mot_i_max (FLOAT)Motor current limit in amps

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

[1, 80] 12A
mot_kv (INT32)Motor Kv in RPM per volt

Comment: Motor Kv in RPM per volt. This can be taken from the motor’s specification sheet; accuracy will help control performance but some deviation from the specified value is acceptable.

[0, 4000] 2300rpm/V
mot_ls (FLOAT)READ ONLY: Motor inductance in henries.

Comment: READ ONLY: Motor inductance in henries. This is measured on start-up.

0.0H
mot_num_poles (INT32)Number of motor poles.

Comment: Number of motor poles. Used to convert mechanical speeds to electrical speeds. This number should be taken from the motor’s specification sheet.

[2, 40] 14
mot_rs (FLOAT)READ ONLY: Motor resistance in ohms

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

0.0欧姆
mot_v_accel (FLOAT)Acceleration limit (V)

Comment: Acceleration limit (V)

[0.01, 1.00] 0.5V
mot_v_max (FLOAT)Motor voltage limit in volts

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

[0, ?] 14.8V

UAVCAN 全球导航卫星系统 ​

名称参数描述[Min, Max] (Incr.)默认值单位
gnss.dyn_model (INT32)GNSS dynamic model

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

参数对照:
  • 0: 汽车
  • 1: 海上
  • 2: 空中
[0, 2] 2
gnss.old_fix_msg (INT32)Broadcast old GNSS fix message

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

参数对照:
  • 0: Fix2
  • 1: Fix and Fix2
[0, 1] 1
gnss.warn_dimens (INT32)device health warning

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

参数对照:
  • 0: disables the feature
  • 1: time-only solution
  • 2: planar (2D) solution
  • 3: full (3D) solution
[0, 3] 0
gnss.warn_sats (INT32)

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

0
uavcan.pubp-pres (INT32)

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

[0, 1000000] 0µs

ADSB ​

名称参数描述[Min, Max] (Incr.)默认值单位
ADSB_CALLSIGN_1 (INT32)First 4 characters of CALLSIGN

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

Reboot required: true

0
ADSB_CALLSIGN_2 (INT32)Second 4 characters of CALLSIGN

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

Reboot required: true

0
ADSB_EMERGC (INT32)ADSB-Out Emergency State

Comment: Sets the vehicle emergency state

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

Reboot required: false

[0, 6] 0
ADSB_EMIT_TYPE (INT32)ADSB-Out Vehicle Emitter Type

Comment: Configure the emitter type of the vehicle.

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

Reboot required: true

[0, 15] 14
ADSB_GPS_OFF_LAT (INT32)ADSB-Out GPS Offset lat

Comment: Sets GPS lataral offset encoding

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

Reboot required: false

[0, 7] 0
ADSB_GPS_OFF_LON (INT32)ADSB-Out GPS Offset lon

Comment: Sets GPS longitudinal offset encoding

参数对照:
  • 0: NoData
  • 1: AppliedBySensor

Reboot required: false

[0, 1] 0
ADSB_ICAO_ID (INT32)ADSB-Out ICAO configuration

Comment: Defines the ICAO ID of the vehicle

Reboot required: true

[-1, 16777215] 1194684
ADSB_ICAO_SPECL (INT32)ADSB-In Special ICAO configuration

Comment: This vehicle is always tracked. Use 0 to disable.

Reboot required: false

[0, 16777215] 0
ADSB_IDENT (INT32)ADSB-Out Ident Configuration

Comment: Enable Identification of Position feature

Reboot required: false

Disabled (0)
ADSB_LEN_WIDTH (INT32)ADSB-Out Vehicle Size Configuration

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

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

Reboot required: true

[0, 15] 1
ADSB_LIST_MAX (INT32)ADSB-In Vehicle List Size

Comment: Change number of targets to track

Reboot required: true

[0, 50] 25
ADSB_MAX_SPEED (INT32)ADSB-Out Vehicle Max Speed

Comment: Informs ADSB vehicles of this vehicle's max speed capability

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

Reboot required: true

[0, 6] 0
ADSB_SQUAWK (INT32)ADSB-Out squawk code configuration

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

Reboot required: false

[0, 7777] 1200

Actuator Outputs ​

名称参数描述[Min, Max] (Incr.)默认值单位
PCA9685_DIS1 (INT32)PCA9685 Output Channel 1 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS10 (INT32)PCA9685 Output Channel 10 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS11 (INT32)PCA9685 Output Channel 11 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS12 (INT32)PCA9685 Output Channel 12 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS13 (INT32)PCA9685 Output Channel 13 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS14 (INT32)PCA9685 Output Channel 14 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS15 (INT32)PCA9685 Output Channel 15 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS16 (INT32)PCA9685 Output Channel 16 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS2 (INT32)PCA9685 Output Channel 2 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS3 (INT32)PCA9685 Output Channel 3 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS4 (INT32)PCA9685 Output Channel 4 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS5 (INT32)PCA9685 Output Channel 5 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS6 (INT32)PCA9685 Output Channel 6 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS7 (INT32)PCA9685 Output Channel 7 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS8 (INT32)PCA9685 Output Channel 8 Disarmed Value

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

[800, 2200] 1000
PCA9685_DIS9 (INT32)PCA9685 Output Channel 9 Disarmed Value

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

[800, 2200] 1000
PCA9685_DUTY_EN (INT32)Put the selected channels into Duty-Cycle output mode

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

Bitmask:
  • 0: Put CH1 to Duty-Cycle mode
  • 1: Put CH2 to Duty-Cycle mode
  • 2: Put CH3 to Duty-Cycle mode
  • 3: Put CH4 to Duty-Cycle mode
  • 4: Put CH5 to Duty-Cycle mode
  • 5: Put CH6 to Duty-Cycle mode
  • 6: Put CH7 to Duty-Cycle mode
  • 7: Put CH8 to Duty-Cycle mode
  • 8: Put CH9 to Duty-Cycle mode
  • 9: Put CH10 to Duty-Cycle mode
  • 10: Put CH11 to Duty-Cycle mode
  • 11: Put CH12 to Duty-Cycle mode
  • 12: Put CH13 to Duty-Cycle mode
  • 13: Put CH14 to Duty-Cycle mode
  • 14: Put CH15 to Duty-Cycle mode
  • 15: Put CH16 to Duty-Cycle mode
[0, 65535] 0
PCA9685_FAIL1 (INT32)PCA9685 Output Channel 1 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL10 (INT32)PCA9685 Output Channel 10 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL11 (INT32)PCA9685 Output Channel 11 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL12 (INT32)PCA9685 Output Channel 12 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL13 (INT32)PCA9685 Output Channel 13 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL14 (INT32)PCA9685 Output Channel 14 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL15 (INT32)PCA9685 Output Channel 15 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL16 (INT32)PCA9685 Output Channel 16 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL2 (INT32)PCA9685 Output Channel 2 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL3 (INT32)PCA9685 Output Channel 3 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL4 (INT32)PCA9685 Output Channel 4 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL5 (INT32)PCA9685 Output Channel 5 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL6 (INT32)PCA9685 Output Channel 6 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL7 (INT32)PCA9685 Output Channel 7 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL8 (INT32)PCA9685 Output Channel 8 Failsafe Value

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

[-1, 2200] -1
PCA9685_FAIL9 (INT32)PCA9685 Output Channel 9 Failsafe Value

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

[-1, 2200] -1
PCA9685_FUNC1 (INT32)PCA9685 Output Channel 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC10 (INT32)PCA9685 Output Channel 10 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC11 (INT32)PCA9685 Output Channel 11 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC12 (INT32)PCA9685 Output Channel 12 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC13 (INT32)PCA9685 Output Channel 13 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC14 (INT32)PCA9685 Output Channel 14 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC15 (INT32)PCA9685 Output Channel 15 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC16 (INT32)PCA9685 Output Channel 16 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC2 (INT32)PCA9685 Output Channel 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC3 (INT32)PCA9685 Output Channel 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC4 (INT32)PCA9685 Output Channel 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC5 (INT32)PCA9685 Output Channel 5 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC6 (INT32)PCA9685 Output Channel 6 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC7 (INT32)PCA9685 Output Channel 7 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC8 (INT32)PCA9685 Output Channel 8 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_FUNC9 (INT32)PCA9685 Output Channel 9 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PCA9685_MAX1 (INT32)PCA9685 Output Channel 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX10 (INT32)PCA9685 Output Channel 10 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX11 (INT32)PCA9685 Output Channel 11 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX12 (INT32)PCA9685 Output Channel 12 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX13 (INT32)PCA9685 Output Channel 13 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX14 (INT32)PCA9685 Output Channel 14 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX15 (INT32)PCA9685 Output Channel 15 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX16 (INT32)PCA9685 Output Channel 16 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX2 (INT32)PCA9685 Output Channel 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX3 (INT32)PCA9685 Output Channel 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX4 (INT32)PCA9685 Output Channel 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX5 (INT32)PCA9685 Output Channel 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX6 (INT32)PCA9685 Output Channel 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX7 (INT32)PCA9685 Output Channel 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX8 (INT32)PCA9685 Output Channel 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MAX9 (INT32)PCA9685 Output Channel 9 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 1900
PCA9685_MIN1 (INT32)PCA9685 Output Channel 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN10 (INT32)PCA9685 Output Channel 10 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN11 (INT32)PCA9685 Output Channel 11 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN12 (INT32)PCA9685 Output Channel 12 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN13 (INT32)PCA9685 Output Channel 13 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN14 (INT32)PCA9685 Output Channel 14 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN15 (INT32)PCA9685 Output Channel 15 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN16 (INT32)PCA9685 Output Channel 16 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN2 (INT32)PCA9685 Output Channel 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN3 (INT32)PCA9685 Output Channel 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN4 (INT32)PCA9685 Output Channel 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN5 (INT32)PCA9685 Output Channel 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN6 (INT32)PCA9685 Output Channel 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN7 (INT32)PCA9685 Output Channel 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN8 (INT32)PCA9685 Output Channel 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_MIN9 (INT32)PCA9685 Output Channel 9 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1100
PCA9685_PWM_FREQ (FLOAT)PWM cycle frequency

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

[23.8, 1525.87] 50.0
PCA9685_REV (INT32)Reverse Output Range for PCA9685 Output

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

Bitmask:
  • 0: PCA9685 Output Channel 1
  • 1: PCA9685 Output Channel 2
  • 2: PCA9685 Output Channel 3
  • 3: PCA9685 Output Channel 4
  • 4: PCA9685 Output Channel 5
  • 5: PCA9685 Output Channel 6
  • 6: PCA9685 Output Channel 7
  • 7: PCA9685 Output Channel 8
  • 8: PCA9685 Output Channel 9
  • 9: PCA9685 Output Channel 10
  • 10: PCA9685 Output Channel 11
  • 11: PCA9685 Output Channel 12
  • 12: PCA9685 Output Channel 13
  • 13: PCA9685 Output Channel 14
  • 14: PCA9685 Output Channel 15
  • 15: PCA9685 Output Channel 16
[0, 65535] 0
PCA9685_SCHD_HZ (FLOAT)PWM update rate

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

[50.0, 400.0] 50.0
PWM_AUX_DIS1 (INT32)PWM Aux 1 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS10 (INT32)PWM Capture 2 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS11 (INT32)PWM Capture 3 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS2 (INT32)PWM Aux 2 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS3 (INT32)PWM Aux 3 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS4 (INT32)PWM Aux 4 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS5 (INT32)PWM Aux 5 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS6 (INT32)PWM Aux 6 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS7 (INT32)PWM Aux 7 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS8 (INT32)PWM Aux 8 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_DIS9 (INT32)PWM Capture 1 Disarmed Value

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

[800, 2200] 1000
PWM_AUX_FAIL1 (INT32)PWM Aux 1 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL10 (INT32)PWM Capture 2 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL11 (INT32)PWM Capture 3 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL2 (INT32)PWM Aux 2 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL3 (INT32)PWM Aux 3 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL4 (INT32)PWM Aux 4 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL5 (INT32)PWM Aux 5 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL6 (INT32)PWM Aux 6 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL7 (INT32)PWM Aux 7 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL8 (INT32)PWM Aux 8 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FAIL9 (INT32)PWM Capture 1 Failsafe Value

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

[-1, 2200] -1
PWM_AUX_FUNC1 (INT32)PWM Aux 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC10 (INT32)PWM Capture 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC11 (INT32)PWM Capture 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC2 (INT32)PWM Aux 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC3 (INT32)PWM Aux 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC4 (INT32)PWM Aux 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC5 (INT32)PWM Aux 5 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC6 (INT32)PWM Aux 6 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC7 (INT32)PWM Aux 7 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC8 (INT32)PWM Aux 8 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_FUNC9 (INT32)PWM Capture 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
  • 2000: Camera Trigger
  • 2032: Camera Capture
  • 2064: PPS Input
0
PWM_AUX_MAX1 (INT32)PWM Aux 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX10 (INT32)PWM Capture 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX11 (INT32)PWM Capture 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX2 (INT32)PWM Aux 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX3 (INT32)PWM Aux 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX4 (INT32)PWM Aux 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX5 (INT32)PWM Aux 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX6 (INT32)PWM Aux 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX7 (INT32)PWM Aux 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX8 (INT32)PWM Aux 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MAX9 (INT32)PWM Capture 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_AUX_MIN1 (INT32)PWM Aux 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN10 (INT32)PWM Capture 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN11 (INT32)PWM Capture 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN2 (INT32)PWM Aux 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN3 (INT32)PWM Aux 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN4 (INT32)PWM Aux 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN5 (INT32)PWM Aux 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN6 (INT32)PWM Aux 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN7 (INT32)PWM Aux 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN8 (INT32)PWM Aux 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_MIN9 (INT32)PWM Capture 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_AUX_REV (INT32)Reverse Output Range for PWM AUX

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

Bitmask:
  • 0: PWM Aux 1
  • 1: PWM Aux 2
  • 2: PWM Aux 3
  • 3: PWM Aux 4
  • 4: PWM Aux 5
  • 5: PWM Aux 6
  • 6: PWM Aux 7
  • 7: PWM Aux 8
  • 8: PWM Capture 1
  • 9: PWM Capture 2
  • 10: PWM Capture 3
[0, 2047] 0
PWM_AUX_TIM0 (INT32)Output Protocol Configuration for PWM Aux 1-4

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

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

Reboot required: True

400
PWM_AUX_TIM1 (INT32)Output Protocol Configuration for PWM Aux 5-6

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
PWM_AUX_TIM2 (INT32)Output Protocol Configuration for PWM Aux 7-8

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
PWM_AUX_TIM3 (INT32)Output Protocol Configuration for PWM Capture 1-3

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
PWM_MAIN_DIS1 (INT32)MAIN 1 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS2 (INT32)MAIN 2 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS3 (INT32)MAIN 3 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS4 (INT32)MAIN 4 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS5 (INT32)MAIN 5 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS6 (INT32)MAIN 6 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS7 (INT32)MAIN 7 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_DIS8 (INT32)MAIN 8 Disarmed Value

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

[800, 2200] 1000
PWM_MAIN_FAIL1 (INT32)MAIN 1 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL2 (INT32)MAIN 2 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL3 (INT32)MAIN 3 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL4 (INT32)MAIN 4 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL5 (INT32)MAIN 5 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL6 (INT32)MAIN 6 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL7 (INT32)MAIN 7 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FAIL8 (INT32)MAIN 8 Failsafe Value

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

[-1, 2200] -1
PWM_MAIN_FUNC1 (INT32)MAIN 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC2 (INT32)MAIN 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC3 (INT32)MAIN 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC4 (INT32)MAIN 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC5 (INT32)MAIN 5 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC6 (INT32)MAIN 6 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC7 (INT32)MAIN 7 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_FUNC8 (INT32)MAIN 8 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
PWM_MAIN_MAX1 (INT32)MAIN 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX2 (INT32)MAIN 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX3 (INT32)MAIN 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX4 (INT32)MAIN 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX5 (INT32)MAIN 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX6 (INT32)MAIN 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX7 (INT32)MAIN 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MAX8 (INT32)MAIN 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[1600, 2200] 2000
PWM_MAIN_MIN1 (INT32)MAIN 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN2 (INT32)MAIN 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN3 (INT32)MAIN 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN4 (INT32)MAIN 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN5 (INT32)MAIN 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN6 (INT32)MAIN 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN7 (INT32)MAIN 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_MIN8 (INT32)MAIN 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[800, 1400] 1000
PWM_MAIN_REV (INT32)Reverse Output Range for PWM MAIN

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

Bitmask:
  • 0: MAIN 1
  • 1: MAIN 2
  • 2: MAIN 3
  • 3: MAIN 4
  • 4: MAIN 5
  • 5: MAIN 6
  • 6: MAIN 7
  • 7: MAIN 8
[0, 255] 0
PWM_MAIN_TIM0 (INT32)Output Protocol Configuration for MAIN 1-2

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
PWM_MAIN_TIM1 (INT32)Output Protocol Configuration for MAIN 3-4

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
PWM_MAIN_TIM2 (INT32)Output Protocol Configuration for MAIN 5-8

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

参数对照:
  • -1: OneShot
  • 50: PWM 50 Hz
  • 100: PWM 100 Hz
  • 200: PWM 200 Hz
  • 400: PWM 400 Hz

Reboot required: True

400
RBCLW_DIS1 (INT32)Roboclaw Driver Channel 1 Disarmed Value

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

[128, 128] 128
RBCLW_DIS2 (INT32)Roboclaw Driver Channel 2 Disarmed Value

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

[128, 128] 128
RBCLW_FAIL1 (INT32)Roboclaw Driver Channel 1 Failsafe Value

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

[-1, 257] -1
RBCLW_FAIL2 (INT32)Roboclaw Driver Channel 2 Failsafe Value

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

[-1, 257] -1
RBCLW_FUNC1 (INT32)Roboclaw Driver Channel 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
RBCLW_FUNC2 (INT32)Roboclaw Driver Channel 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
RBCLW_MAX1 (INT32)Roboclaw Driver Channel 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[128, 256] 256
RBCLW_MAX2 (INT32)Roboclaw Driver Channel 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[128, 256] 256
RBCLW_MIN1 (INT32)Roboclaw Driver Channel 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[1, 128] 1
RBCLW_MIN2 (INT32)Roboclaw Driver Channel 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[1, 128] 1
RBCLW_REV (INT32)Reverse Output Range for Roboclaw Driver

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

Bitmask:
  • 0: Roboclaw Driver Channel 1
  • 1: Roboclaw Driver Channel 2
[0, 3] 0
SIM_GZ_EC_DIS1 (INT32)SIM_GZ ESC 1 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS2 (INT32)SIM_GZ ESC 2 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS3 (INT32)SIM_GZ ESC 3 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS4 (INT32)SIM_GZ ESC 4 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS5 (INT32)SIM_GZ ESC 5 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS6 (INT32)SIM_GZ ESC 6 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS7 (INT32)SIM_GZ ESC 7 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_DIS8 (INT32)SIM_GZ ESC 8 Disarmed Value

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

[0, 1000] 0
SIM_GZ_EC_FAIL1 (INT32)SIM_GZ ESC 1 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL2 (INT32)SIM_GZ ESC 2 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL3 (INT32)SIM_GZ ESC 3 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL4 (INT32)SIM_GZ ESC 4 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL5 (INT32)SIM_GZ ESC 5 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL6 (INT32)SIM_GZ ESC 6 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL7 (INT32)SIM_GZ ESC 7 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FAIL8 (INT32)SIM_GZ ESC 8 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_EC_FUNC1 (INT32)SIM_GZ ESC 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC2 (INT32)SIM_GZ ESC 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC3 (INT32)SIM_GZ ESC 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC4 (INT32)SIM_GZ ESC 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC5 (INT32)SIM_GZ ESC 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC6 (INT32)SIM_GZ ESC 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC7 (INT32)SIM_GZ ESC 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_FUNC8 (INT32)SIM_GZ ESC 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_EC_MAX1 (INT32)SIM_GZ ESC 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX2 (INT32)SIM_GZ ESC 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX3 (INT32)SIM_GZ ESC 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX4 (INT32)SIM_GZ ESC 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX5 (INT32)SIM_GZ ESC 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX6 (INT32)SIM_GZ ESC 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX7 (INT32)SIM_GZ ESC 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MAX8 (INT32)SIM_GZ ESC 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_EC_MIN1 (INT32)SIM_GZ ESC 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN2 (INT32)SIM_GZ ESC 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN3 (INT32)SIM_GZ ESC 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN4 (INT32)SIM_GZ ESC 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN5 (INT32)SIM_GZ ESC 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN6 (INT32)SIM_GZ ESC 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN7 (INT32)SIM_GZ ESC 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_MIN8 (INT32)SIM_GZ ESC 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_EC_REV (INT32)Reverse Output Range for SIM_GZ

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

Bitmask:
  • 0: SIM_GZ ESC 1
  • 1: SIM_GZ ESC 2
  • 2: SIM_GZ ESC 3
  • 3: SIM_GZ ESC 4
  • 4: SIM_GZ ESC 5
  • 5: SIM_GZ ESC 6
  • 6: SIM_GZ ESC 7
  • 7: SIM_GZ ESC 8
[0, 255] 0
SIM_GZ_SV_DIS1 (INT32)SIM_GZ Servo 1 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS2 (INT32)SIM_GZ Servo 2 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS3 (INT32)SIM_GZ Servo 3 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS4 (INT32)SIM_GZ Servo 4 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS5 (INT32)SIM_GZ Servo 5 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS6 (INT32)SIM_GZ Servo 6 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS7 (INT32)SIM_GZ Servo 7 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_DIS8 (INT32)SIM_GZ Servo 8 Disarmed Value

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

[0, 1000] 500
SIM_GZ_SV_FAIL1 (INT32)SIM_GZ Servo 1 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL2 (INT32)SIM_GZ Servo 2 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL3 (INT32)SIM_GZ Servo 3 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL4 (INT32)SIM_GZ Servo 4 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL5 (INT32)SIM_GZ Servo 5 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL6 (INT32)SIM_GZ Servo 6 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL7 (INT32)SIM_GZ Servo 7 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FAIL8 (INT32)SIM_GZ Servo 8 Failsafe Value

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

[-1, 1000] -1
SIM_GZ_SV_FUNC1 (INT32)SIM_GZ Servo 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC2 (INT32)SIM_GZ Servo 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC3 (INT32)SIM_GZ Servo 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC4 (INT32)SIM_GZ Servo 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC5 (INT32)SIM_GZ Servo 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC6 (INT32)SIM_GZ Servo 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC7 (INT32)SIM_GZ Servo 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_FUNC8 (INT32)SIM_GZ Servo 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_SV_MAX1 (INT32)SIM_GZ Servo 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX2 (INT32)SIM_GZ Servo 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX3 (INT32)SIM_GZ Servo 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX4 (INT32)SIM_GZ Servo 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX5 (INT32)SIM_GZ Servo 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX6 (INT32)SIM_GZ Servo 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX7 (INT32)SIM_GZ Servo 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MAX8 (INT32)SIM_GZ Servo 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
SIM_GZ_SV_MIN1 (INT32)SIM_GZ Servo 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN2 (INT32)SIM_GZ Servo 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN3 (INT32)SIM_GZ Servo 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN4 (INT32)SIM_GZ Servo 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN5 (INT32)SIM_GZ Servo 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN6 (INT32)SIM_GZ Servo 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN7 (INT32)SIM_GZ Servo 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_MIN8 (INT32)SIM_GZ Servo 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
SIM_GZ_SV_REV (INT32)Reverse Output Range for SIM_GZ

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

Bitmask:
  • 0: SIM_GZ Servo 1
  • 1: SIM_GZ Servo 2
  • 2: SIM_GZ Servo 3
  • 3: SIM_GZ Servo 4
  • 4: SIM_GZ Servo 5
  • 5: SIM_GZ Servo 6
  • 6: SIM_GZ Servo 7
  • 7: SIM_GZ Servo 8
[0, 255] 0
SIM_GZ_WH_DIS1 (INT32)SIM_GZ Wheels 1 Disarmed Value

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

[0, 200] 100
SIM_GZ_WH_DIS2 (INT32)SIM_GZ Wheels 2 Disarmed Value

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

[0, 200] 100
SIM_GZ_WH_FAIL1 (INT32)SIM_GZ Wheels 1 Failsafe Value

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

[-1, 200] -1
SIM_GZ_WH_FAIL2 (INT32)SIM_GZ Wheels 2 Failsafe Value

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

[-1, 200] -1
SIM_GZ_WH_FUNC1 (INT32)SIM_GZ Wheels 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_WH_FUNC2 (INT32)SIM_GZ Wheels 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
SIM_GZ_WH_MAX1 (INT32)SIM_GZ Wheels 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 200] 200
SIM_GZ_WH_MAX2 (INT32)SIM_GZ Wheels 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 200] 0
SIM_GZ_WH_MIN1 (INT32)SIM_GZ Wheels 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 200] 0
SIM_GZ_WH_MIN2 (INT32)SIM_GZ Wheels 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 200] 0
SIM_GZ_WH_REV (INT32)Reverse Output Range for SIM_GZ

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

Bitmask:
  • 0: SIM_GZ Wheels 1
  • 1: SIM_GZ Wheels 2
[0, 3] 0
TAP_ESC_FUNC1 (INT32)TAP ESC Output ESC 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC2 (INT32)TAP ESC Output ESC 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC3 (INT32)TAP ESC Output ESC 3 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC4 (INT32)TAP ESC Output ESC 4 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC5 (INT32)TAP ESC Output ESC 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC6 (INT32)TAP ESC Output ESC 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC7 (INT32)TAP ESC Output ESC 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_FUNC8 (INT32)TAP ESC Output ESC 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
TAP_ESC_REV (INT32)Reverse Output Range for TAP ESC Output

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

Bitmask:
  • 0: TAP ESC Output ESC 1
  • 1: TAP ESC Output ESC 2
  • 2: TAP ESC Output ESC 3
  • 3: TAP ESC Output ESC 4
  • 4: TAP ESC Output ESC 5
  • 5: TAP ESC Output ESC 6
  • 6: TAP ESC Output ESC 7
  • 7: TAP ESC Output ESC 8
[0, 255] 0
UAVCAN_EC_FAIL1 (INT32)UAVCAN ESC 1 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL2 (INT32)UAVCAN ESC 2 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL3 (INT32)UAVCAN ESC 3 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL4 (INT32)UAVCAN ESC 4 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL5 (INT32)UAVCAN ESC 5 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL6 (INT32)UAVCAN ESC 6 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL7 (INT32)UAVCAN ESC 7 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FAIL8 (INT32)UAVCAN ESC 8 Failsafe Value

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

[-1, 8191] -1
UAVCAN_EC_FUNC1 (INT32)UAVCAN ESC 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC2 (INT32)UAVCAN ESC 2 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC3 (INT32)UAVCAN ESC 3 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC4 (INT32)UAVCAN ESC 4 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC5 (INT32)UAVCAN ESC 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC6 (INT32)UAVCAN ESC 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC7 (INT32)UAVCAN ESC 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_FUNC8 (INT32)UAVCAN ESC 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_EC_MAX1 (INT32)UAVCAN ESC 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX2 (INT32)UAVCAN ESC 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX3 (INT32)UAVCAN ESC 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX4 (INT32)UAVCAN ESC 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX5 (INT32)UAVCAN ESC 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX6 (INT32)UAVCAN ESC 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX7 (INT32)UAVCAN ESC 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MAX8 (INT32)UAVCAN ESC 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UAVCAN_EC_MIN1 (INT32)UAVCAN ESC 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN2 (INT32)UAVCAN ESC 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN3 (INT32)UAVCAN ESC 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN4 (INT32)UAVCAN ESC 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN5 (INT32)UAVCAN ESC 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN6 (INT32)UAVCAN ESC 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN7 (INT32)UAVCAN ESC 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_MIN8 (INT32)UAVCAN ESC 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UAVCAN_EC_REV (INT32)Reverse Output Range for UAVCAN

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

Bitmask:
  • 0: UAVCAN ESC 1
  • 1: UAVCAN ESC 2
  • 2: UAVCAN ESC 3
  • 3: UAVCAN ESC 4
  • 4: UAVCAN ESC 5
  • 5: UAVCAN ESC 6
  • 6: UAVCAN ESC 7
  • 7: UAVCAN ESC 8
[0, 255] 0
UAVCAN_SV_DIS1 (INT32)UAVCAN Servo 1 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS2 (INT32)UAVCAN Servo 2 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS3 (INT32)UAVCAN Servo 3 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS4 (INT32)UAVCAN Servo 4 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS5 (INT32)UAVCAN Servo 5 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS6 (INT32)UAVCAN Servo 6 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS7 (INT32)UAVCAN Servo 7 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_DIS8 (INT32)UAVCAN Servo 8 Disarmed Value

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

[0, 1000] 500
UAVCAN_SV_FAIL1 (INT32)UAVCAN Servo 1 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL2 (INT32)UAVCAN Servo 2 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL3 (INT32)UAVCAN Servo 3 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL4 (INT32)UAVCAN Servo 4 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL5 (INT32)UAVCAN Servo 5 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL6 (INT32)UAVCAN Servo 6 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL7 (INT32)UAVCAN Servo 7 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FAIL8 (INT32)UAVCAN Servo 8 Failsafe Value

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

[-1, 1000] -1
UAVCAN_SV_FUNC1 (INT32)UAVCAN Servo 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC2 (INT32)UAVCAN Servo 2 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC3 (INT32)UAVCAN Servo 3 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC4 (INT32)UAVCAN Servo 4 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC5 (INT32)UAVCAN Servo 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC6 (INT32)UAVCAN Servo 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC7 (INT32)UAVCAN Servo 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_FUNC8 (INT32)UAVCAN Servo 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UAVCAN_SV_MAX1 (INT32)UAVCAN Servo 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX2 (INT32)UAVCAN Servo 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX3 (INT32)UAVCAN Servo 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX4 (INT32)UAVCAN Servo 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX5 (INT32)UAVCAN Servo 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX6 (INT32)UAVCAN Servo 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX7 (INT32)UAVCAN Servo 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MAX8 (INT32)UAVCAN Servo 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 1000] 1000
UAVCAN_SV_MIN1 (INT32)UAVCAN Servo 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN2 (INT32)UAVCAN Servo 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN3 (INT32)UAVCAN Servo 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN4 (INT32)UAVCAN Servo 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN5 (INT32)UAVCAN Servo 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN6 (INT32)UAVCAN Servo 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN7 (INT32)UAVCAN Servo 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_MIN8 (INT32)UAVCAN Servo 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 1000] 0
UAVCAN_SV_REV (INT32)Reverse Output Range for UAVCAN

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

Bitmask:
  • 0: UAVCAN Servo 1
  • 1: UAVCAN Servo 2
  • 2: UAVCAN Servo 3
  • 3: UAVCAN Servo 4
  • 4: UAVCAN Servo 5
  • 5: UAVCAN Servo 6
  • 6: UAVCAN Servo 7
  • 7: UAVCAN Servo 8
[0, 255] 0
UCAN1_ESC_FAIL1 (INT32)UAVCANv1 ESC 1 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL10 (INT32)UAVCANv1 ESC 10 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL11 (INT32)UAVCANv1 ESC 11 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL12 (INT32)UAVCANv1 ESC 12 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL13 (INT32)UAVCANv1 ESC 13 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL14 (INT32)UAVCANv1 ESC 14 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL15 (INT32)UAVCANv1 ESC 15 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL16 (INT32)UAVCANv1 ESC 16 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL2 (INT32)UAVCANv1 ESC 2 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL3 (INT32)UAVCANv1 ESC 3 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL4 (INT32)UAVCANv1 ESC 4 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL5 (INT32)UAVCANv1 ESC 5 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL6 (INT32)UAVCANv1 ESC 6 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL7 (INT32)UAVCANv1 ESC 7 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL8 (INT32)UAVCANv1 ESC 8 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FAIL9 (INT32)UAVCANv1 ESC 9 Failsafe Value

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

[-1, 8191] -1
UCAN1_ESC_FUNC1 (INT32)UAVCANv1 ESC 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC10 (INT32)UAVCANv1 ESC 10 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC11 (INT32)UAVCANv1 ESC 11 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC12 (INT32)UAVCANv1 ESC 12 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC13 (INT32)UAVCANv1 ESC 13 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC14 (INT32)UAVCANv1 ESC 14 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC15 (INT32)UAVCANv1 ESC 15 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC16 (INT32)UAVCANv1 ESC 16 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC2 (INT32)UAVCANv1 ESC 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC3 (INT32)UAVCANv1 ESC 3 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC4 (INT32)UAVCANv1 ESC 4 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC5 (INT32)UAVCANv1 ESC 5 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC6 (INT32)UAVCANv1 ESC 6 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC7 (INT32)UAVCANv1 ESC 7 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC8 (INT32)UAVCANv1 ESC 8 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_FUNC9 (INT32)UAVCANv1 ESC 9 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
UCAN1_ESC_MAX1 (INT32)UAVCANv1 ESC 1 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX10 (INT32)UAVCANv1 ESC 10 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX11 (INT32)UAVCANv1 ESC 11 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX12 (INT32)UAVCANv1 ESC 12 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX13 (INT32)UAVCANv1 ESC 13 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX14 (INT32)UAVCANv1 ESC 14 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX15 (INT32)UAVCANv1 ESC 15 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX16 (INT32)UAVCANv1 ESC 16 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX2 (INT32)UAVCANv1 ESC 2 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX3 (INT32)UAVCANv1 ESC 3 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX4 (INT32)UAVCANv1 ESC 4 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX5 (INT32)UAVCANv1 ESC 5 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX6 (INT32)UAVCANv1 ESC 6 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX7 (INT32)UAVCANv1 ESC 7 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX8 (INT32)UAVCANv1 ESC 8 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MAX9 (INT32)UAVCANv1 ESC 9 Maximum Value

Comment: Maxmimum output value (when not disarmed).

[0, 8191] 8191
UCAN1_ESC_MIN1 (INT32)UAVCANv1 ESC 1 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN10 (INT32)UAVCANv1 ESC 10 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN11 (INT32)UAVCANv1 ESC 11 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN12 (INT32)UAVCANv1 ESC 12 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN13 (INT32)UAVCANv1 ESC 13 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN14 (INT32)UAVCANv1 ESC 14 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN15 (INT32)UAVCANv1 ESC 15 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN16 (INT32)UAVCANv1 ESC 16 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN2 (INT32)UAVCANv1 ESC 2 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN3 (INT32)UAVCANv1 ESC 3 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN4 (INT32)UAVCANv1 ESC 4 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN5 (INT32)UAVCANv1 ESC 5 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN6 (INT32)UAVCANv1 ESC 6 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN7 (INT32)UAVCANv1 ESC 7 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN8 (INT32)UAVCANv1 ESC 8 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_MIN9 (INT32)UAVCANv1 ESC 9 Minimum Value

Comment: Minimum output value (when not disarmed).

[0, 8191] 1
UCAN1_ESC_REV (INT32)Reverse Output Range for UAVCANv1

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

Bitmask:
  • 0: UAVCANv1 ESC 1
  • 1: UAVCANv1 ESC 2
  • 2: UAVCANv1 ESC 3
  • 3: UAVCANv1 ESC 4
  • 4: UAVCANv1 ESC 5
  • 5: UAVCANv1 ESC 6
  • 6: UAVCANv1 ESC 7
  • 7: UAVCANv1 ESC 8
  • 8: UAVCANv1 ESC 9
  • 9: UAVCANv1 ESC 10
  • 10: UAVCANv1 ESC 11
  • 11: UAVCANv1 ESC 12
  • 12: UAVCANv1 ESC 13
  • 13: UAVCANv1 ESC 14
  • 14: UAVCANv1 ESC 15
  • 15: UAVCANv1 ESC 16
[0, 65535] 0
VOXL2_IO_FUNC1 (INT32)VOXL2 IO Output PWM Channel 1 Output Function

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

Values:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL2_IO_FUNC2 (INT32)VOXL2 IO Output PWM Channel 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL2_IO_FUNC3 (INT32)VOXL2 IO Output PWM Channel 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL2_IO_FUNC4 (INT32)VOXL2 IO Output PWM Channel 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL2_IO_REV (INT32)Reverse Output Range for VOXL2 IO Output

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

Bitmask:
  • 0: VOXL2 IO Output PWM Channel 1
  • 1: VOXL2 IO Output PWM Channel 2
  • 2: VOXL2 IO Output PWM Channel 3
  • 3: VOXL2 IO Output PWM Channel 4
[0, 15] 0
VOXL_ESC_FUNC1 (INT32)VOXL ESC Output ESC 1 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL_ESC_FUNC2 (INT32)VOXL ESC Output ESC 2 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL_ESC_FUNC3 (INT32)VOXL ESC Output ESC 3 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL_ESC_FUNC4 (INT32)VOXL ESC Output ESC 4 Output Function

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

参数对照:
  • 0: Disabled
  • 1: Constant Min
  • 2: Constant Max
  • 101: Motor 1
  • 102: Motor 2
  • 103: Motor 3
  • 104: Motor 4
  • 105: Motor 5
  • 106: Motor 6
  • 107: Motor 7
  • 108: Motor 8
  • 109: Motor 9
  • 110: Motor 10
  • 111: Motor 11
  • 112: Motor 12
  • 201: Servo 1
  • 202: Servo 2
  • 203: Servo 3
  • 204: Servo 4
  • 205: Servo 5
  • 206: Servo 6
  • 207: Servo 7
  • 208: Servo 8
  • 301: Peripheral via Actuator Set 1
  • 302: Peripheral via Actuator Set 2
  • 303: Peripheral via Actuator Set 3
  • 304: Peripheral via Actuator Set 4
  • 305: Peripheral via Actuator Set 5
  • 306: Peripheral via Actuator Set 6
  • 400: Landing Gear
  • 401: Parachute
  • 402: RC Roll
  • 403: RC Pitch
  • 404: RC Throttle
  • 405: RC Yaw
  • 406: RC Flaps
  • 407: RC AUX 1
  • 408: RC AUX 2
  • 409: RC AUX 3
  • 410: RC AUX 4
  • 411: RC AUX 5
  • 412: RC AUX 6
  • 420: Gimbal Roll
  • 421: Gimbal Pitch
  • 422: Gimbal Yaw
  • 430: Gripper
  • 440: Landing Gear Wheel
0
VOXL_ESC_REV (INT32)Reverse Output Range for VOXL ESC Output

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

Bitmask:
  • 0: VOXL ESC Output ESC 1
  • 1: VOXL ESC Output ESC 2
  • 2: VOXL ESC Output ESC 3
  • 3: VOXL ESC Output ESC 4
[0, 15] 0

Airspeed Validator ​

名称参数描述[Min, Max] (Incr.)默认值单位
ASPD_BETA_GATE (INT32)Gate size for sideslip angle fusion

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

[1, 5] 1SD
ASPD_BETA_NOISE (FLOAT)Wind estimator sideslip measurement noise

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

[0, 1] 0.15rad
ASPD_DO_CHECKS (INT32)Enable checks on airspeed sensors

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

Bitmask:
  • 0: Only data missing check (triggers if more than 1s no data)
  • 1: Data stuck (triggers if data is exactly constant for 2s in FW mode)
  • 2: Innovation check (see ASPD_FS_INNOV)
  • 3: Load factor check (triggers if measurement is below stall speed)
[0, 15] 7
ASPD_FALLBACK_GW (INT32)Enable fallback to sensor-less airspeed estimation

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

参数对照:
  • 0: Disable fallback to sensor-less estimation
  • 1: Enable fallback to sensor-less estimation
Disabled (0)
ASPD_FS_INNOV (FLOAT)Airspeed failure innovation threshold

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

[0.5, 10.0] 5.m/s
ASPD_FS_INTEG (FLOAT)Airspeed failure innovation integral threshold

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

[0.0, 50.0] 10.m
ASPD_FS_T_START (FLOAT)Airspeed failsafe start delay

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

[-1.0, ?] -1.s
ASPD_FS_T_STOP (FLOAT)Airspeed failsafe stop delay

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

[0.0, ?] 1.s
ASPD_PRIMARY (INT32)Index or primary airspeed measurement source Values:
  • 0: Groundspeed minus windspeed
  • 1: First airspeed sensor
  • 2: Second airspeed sensor
  • 3: Third airspeed sensor

Reboot required: true

1
ASPD_SCALE_1 (FLOAT)Scale of airspeed sensor 1

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

Reboot required: true

[0.5, 2.0] 1.0
ASPD_SCALE_2 (FLOAT)Scale of airspeed sensor 2

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

Reboot required: true

[0.5, 2.0] 1.0
ASPD_SCALE_3 (FLOAT)Scale of airspeed sensor 3

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

Reboot required: true

[0.5, 2.0] 1.0
ASPD_SCALE_APPLY (INT32)Controls when to apply the new estimated airspeed scale(s) Values:
  • 0: Do not automatically apply the estimated scale
  • 1: Apply the estimated scale after disarm
  • 2: Apply the estimated scale in air
2
ASPD_SCALE_NSD (FLOAT)Wind estimator true airspeed scale process noise spectral density

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

[0, 0.1] 1.e-41/s/sqrt(Hz)
ASPD_TAS_GATE (INT32)Gate size for true airspeed fusion

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

[1, 5] 4SD
ASPD_TAS_NOISE (FLOAT)Wind estimator true airspeed measurement noise

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

[0, 4] 1.4m/s
ASPD_WERR_THR (FLOAT)Horizontal wind uncertainty threshold for synthetic airspeed

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

[0.001, 5] 0.55m/s
ASPD_WIND_NSD (FLOAT)Wind estimator wind process noise spectral density

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

[0, 1] 1.e-1m/s^2/sqrt(Hz)

Attitude Q estimator ​

名称参数描述[Min, Max] (Incr.)默认值单位
ATT_ACC_COMP (INT32)Acceleration compensation based on GPS velocity Disabled (0)
ATT_BIAS_MAX (FLOAT)Gyro bias limit [0, 2] 0.05rad/s
ATT_EN (INT32)standalone attitude estimator enable (unsupported)

Comment: Enable standalone quaternion based attitude estimator.

Disabled (0)
ATT_EXT_HDG_M (INT32)External heading usage mode (from Motion capture/Vision)

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

参数对照:
  • 0: None
  • 1: Vision
  • 2: Motion Capture
[0, 2] 0
ATT_MAG_DECL (FLOAT)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.

0.0deg
ATT_MAG_DECL_A (INT32)Automatic GPS based declination compensation Enabled (1)
ATT_W_ACC (FLOAT)Complimentary filter accelerometer weight [0, 1] 0.2
ATT_W_EXT_HDG (FLOAT)Complimentary filter external heading weight [0, 1] 0.1
ATT_W_GYRO_BIAS (FLOAT)Complimentary filter gyroscope bias weight [0, 1] 0.1
ATT_W_MAG (FLOAT)Complimentary filter magnetometer weight

Comment: Set to 0 to avoid using the magnetometer.

[0, 1] 0.1

Autotune ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_AT_APPLY (INT32)Controls when to apply the new gains

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

参数对照:
  • 0: Do not apply the new gains (logging only)
  • 1: Apply the new gains after disarm
  • 2: Apply the new gains in air
2
FW_AT_AXES (INT32)Tuning axes selection

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

Bitmask:
  • 0: roll
  • 1: pitch
  • 2: yaw
[1, 7] 3
FW_AT_MAN_AUX (INT32)Enable/disable auto tuning using an RC AUX input

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

参数对照:
  • 0: Disable
  • 1: Aux1
  • 2: Aux2
  • 3: Aux3
  • 4: Aux4
  • 5: Aux5
  • 6: Aux6
[0, 6] 0
FW_AT_START (INT32)Start the autotuning sequence

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

Disabled (0)
FW_AT_SYSID_AMP (FLOAT)Amplitude of the injected signal

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

[0.1, 6.0] 1.0
FW_AT_SYSID_F0 (FLOAT)Start frequency of the injected signal

Comment: Can be set lower or higher than the end frequency

[0.1, 30.0] 1.Hz
FW_AT_SYSID_F1 (FLOAT)End frequency of the injected signal

Comment: Can be set lower or higher than the start frequency

[0.1, 30.0] 20.Hz
FW_AT_SYSID_TIME (FLOAT)Maneuver time for each axis

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

[5, 120] 10.s
FW_AT_SYSID_TYPE (INT32)Input signal type

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

参数对照:
  • 0: Step
  • 1: Linear sine sweep
  • 2: Logarithmic sine sweep
0
MC_AT_APPLY (INT32)Controls when to apply the new gains

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

参数对照:
  • 0: Do not apply the new gains (logging only)
  • 1: Apply the new gains after disarm
  • 2: WARNING Apply the new gains in air
1
MC_AT_EN (INT32)Multicopter autotune module enable Disabled (0)
MC_AT_RISE_TIME (FLOAT)Desired angular rate closed-loop rise time [0.01, 0.5] 0.14s
MC_AT_START (INT32)Start the autotuning sequence

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

Disabled (0)
MC_AT_SYSID_AMP (FLOAT)Amplitude of the injected signal [0.1, 6.0] 0.7

Battery Calibration ​

名称参数描述[Min, Max] (Incr.)默认值单位
BAT1_A_PER_V (FLOAT)Battery 1 current per volt (A/V)

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

Reboot required: True

-1.0
BAT1_CAPACITY (FLOAT)Battery 1 capacity

Comment: Defines the capacity of battery 1 in mAh.

Reboot required: True

[-1.0, 100000] (50)-1.0mAh
BAT1_I_CHANNEL (INT32)Battery 1 Current ADC Channel

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

Reboot required: True

-1
BAT1_N_CELLS (INT32)Number of cells for battery 1

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

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

Reboot required: True

0
BAT1_R_INTERNAL (FLOAT)Explicitly defines the per cell internal resistance for battery 1

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

Reboot required: True

[-1.0, 0.2] (0.0005)-1.0欧姆
BAT1_SOURCE (INT32)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. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

参数对照:
  • -1: Disabled
  • 0: Power Module
  • 1: External
  • 2: ESCs

Reboot required: True

0
BAT1_V_CHANNEL (INT32)Battery 1 Voltage 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

-1
BAT1_V_CHARGED (FLOAT)Full cell voltage

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

Reboot required: True

(0.01)4.05V
BAT1_V_DIV (FLOAT)Battery 1 voltage divider (V divider)

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

Reboot required: True

-1.0
BAT1_V_EMPTY (FLOAT)Empty cell voltage

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

Reboot required: True

(0.01)3.6V
BAT2_A_PER_V (FLOAT)Battery 2 current per volt (A/V)

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

Reboot required: True

-1.0
BAT2_CAPACITY (FLOAT)Battery 2 capacity

Comment: Defines the capacity of battery 2 in mAh.

Reboot required: True

[-1.0, 100000] (50)-1.0mAh
BAT2_I_CHANNEL (INT32)Battery 2 Current ADC Channel

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

Reboot required: True

-1
BAT2_N_CELLS (INT32)Number of cells for battery 2

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

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

Reboot required: True

0
BAT2_R_INTERNAL (FLOAT)Explicitly defines the per cell internal resistance for battery 2

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

Reboot required: True

[-1.0, 0.2] (0.0005)-1.0欧姆
BAT2_SOURCE (INT32)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. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

参数对照:
  • -1: Disabled
  • 0: Power Module
  • 1: External
  • 2: ESCs

Reboot required: True

-1
BAT2_V_CHANNEL (INT32)Battery 2 Voltage 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

-1
BAT2_V_CHARGED (FLOAT)Full cell voltage

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

Reboot required: True

(0.01)4.05V
BAT2_V_DIV (FLOAT)Battery 2 voltage divider (V divider)

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

Reboot required: True

-1.0
BAT2_V_EMPTY (FLOAT)Empty cell voltage

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

Reboot required: True

(0.01)3.6V
BAT3_CAPACITY (FLOAT)Battery 3 capacity

Comment: Defines the capacity of battery 3 in mAh.

Reboot required: True

[-1.0, 100000] (50)-1.0mAh
BAT3_N_CELLS (INT32)Number of cells for battery 3

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

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

Reboot required: True

0
BAT3_R_INTERNAL (FLOAT)Explicitly defines the per cell internal resistance for battery 3

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

Reboot required: True

[-1.0, 0.2] (0.0005)-1.0Ohm
BAT3_SOURCE (INT32)Battery 3 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. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.

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

Reboot required: True

-1
BAT3_V_CHARGED (FLOAT)Full cell voltage

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

Reboot required: True

(0.01)4.05V
BAT3_V_EMPTY (FLOAT)Empty cell voltage

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

Reboot required: True

(0.01)3.6V
BAT_ADC_CHANNEL (INT32)This parameter is deprecated. Please use BAT1_I_CHANNEL -1
BAT_AVRG_CURRENT (FLOAT)Expected battery current in flight

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

[0, 500] (0.1)15.0A
BAT_CRIT_THR (FLOAT)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.

[0.05, 0.25] (0.01)0.07norm
BAT_EMERGEN_THR (FLOAT)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.

[0.03, 0.1] (0.01)0.05norm
BAT_LOW_THR (FLOAT)Low threshold

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

[0.12, 0.5] (0.01)0.15norm
BAT_V_OFFS_CURR (FLOAT)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.

0.0

CDCACM ​

名称参数描述[Min, Max] (Incr.)默认值单位
SYS_USB_AUTO (INT32)Enable USB autostart Values:
  • 0: Disabled
  • 1: Auto-detect
  • 2: MAVLink

Reboot required: true

2
USB_MAV_MODE (INT32)Specify USB MAVLink mode Values:
  • 0: normal
  • 1: custom
  • 2: onboard
  • 3: osd
  • 4: magic
  • 5: config
  • 6: iridium
  • 7: minimal
  • 8: extvision
  • 9: extvisionmin
  • 10: gimbal
  • 11: onboard_low_bandwidth
  • 12: uavionix

Reboot required: true

2

Camera Capture ​

NameDescription[Min, Max] (Incr.)DefaultUnits
CAM_CAP_DELAY (FLOAT)Camera strobe delay

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

[0.0, 100.0] 0.0ms

Camera Control ​

NameDescription[Min, Max] (Incr.)DefaultUnits
CAM_CAP_EDGE (INT32)Camera capture edge Values:
  • 0: Falling edge
  • 1: Rising edge

Reboot required: true

0
CAM_CAP_FBACK (INT32)Camera capture feedback

Comment: Enables camera capture feedback

Reboot required: true

Disabled (0)
CAM_CAP_MODE (INT32)Camera capture timestamping mode

Comment: Change time measurement

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

Reboot required: true

0

Camera trigger ​

名称参数描述[Min, Max] (Incr.)默认值单位
TRIG_ACT_TIME (FLOAT)Camera trigger activation time

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

Reboot required: true

[0.1, 3000] 40.0ms
TRIG_DISTANCE (FLOAT)Camera trigger distance

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

Reboot required: true

[0, ?] (1)25.0m
TRIG_INTERFACE (INT32)Camera trigger Interface

Comment: Selects the trigger interface

参数对照:
  • 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

4
TRIG_INTERVAL (FLOAT)Camera trigger interval

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

Reboot required: true

[4.0, 10000.0] 40.0ms
TRIG_MIN_INTERVA (FLOAT)Minimum camera trigger interval

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

Reboot required: true

[1.0, 10000.0] 1.0ms
TRIG_MODE (INT32)Camera trigger mode Values:
  • 0: Disable
  • 1: Time based, on command
  • 2: Time based, always on
  • 3: Distance based, always on
  • 4: Distance based, on command (Survey mode)

Reboot required: true

[0, 4] 0
TRIG_POLARITY (INT32)Camera trigger polarity

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

参数对照:
  • 0: Active low
  • 1: Active high

Reboot required: true

[0, 1] 0
TRIG_PWM_NEUTRAL (INT32)PWM neutral output on trigger pin

Reboot required: true

[1000, 2000] 1500µs
TRIG_PWM_SHOOT (INT32)PWM output to trigger shot

Reboot required: true

[1000, 2000] 1900µs

Circuit Breaker ​

名称参数描述[Min, Max] (Incr.)默认值单位
CBRK_BUZZER (INT32)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

[0, 782097] 0
CBRK_FLIGHTTERM (INT32)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, geofence, and takeoff failure detection safety logic.

Reboot required: true

[0, 121212] 121212
CBRK_IO_SAFETY (INT32)Circuit breaker for IO safety

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

[0, 22027] 22027
CBRK_SUPPLY_CHK (INT32)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

[0, 894281] 0
CBRK_USB_CHK (INT32)Circuit breaker for USB link check

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

[0, 197848] 197848
CBRK_VTOLARMING (INT32)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

[0, 159753] 0

Commander ​

名称参数描述[Min, Max] (Incr.)默认值单位
COM_ACT_FAIL_ACT (INT32)Set the actuator failure failsafe mode

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

参数对照:
  • 0: Warning only
  • 1: Hold mode
  • 2: Land mode
  • 3: Return mode
  • 4: Terminate
[0, 3] 0
COM_ARMABLE (INT32)Flag to allow arming

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

参数对照:
  • 0: Disallow arming
  • 1: Allow arming
Enabled (1)
COM_ARM_AUTH_ID (INT32)Arm authorizer system id

Comment: Used if arm authorization is requested by COM_ARM_AUTH_REQ.

10
COM_ARM_AUTH_MET (INT32)Arm authorization method

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

参数对照:
  • 0: one arm
  • 1: two step arm
0
COM_ARM_AUTH_REQ (INT32)Require arm authorization to arm

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

Disabled (0)
COM_ARM_AUTH_TO (FLOAT)Arm authorization timeout

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

(0.1)1s
COM_ARM_BAT_MIN (FLOAT)Minimum battery level for arming

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

[0, 0.9] (0.01)0.norm
COM_ARM_CHK_ESCS (INT32)Enable checks on ESCs that report telemetry

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

Disabled (0)
COM_ARM_EKF_HGT (FLOAT)Maximum EKF height innovation test ratio that will allow arming [0.1, 1.0] (0.05)1.0
COM_ARM_EKF_POS (FLOAT)Maximum EKF position innovation test ratio that will allow arming [0.1, 1.0] (0.05)0.5
COM_ARM_EKF_VEL (FLOAT)Maximum EKF velocity innovation test ratio that will allow arming [0.1, 1.0] (0.05)0.5
COM_ARM_EKF_YAW (FLOAT)Maximum EKF yaw innovation test ratio that will allow arming [0.1, 1.0] (0.05)0.5
COM_ARM_HFLT_CHK (INT32)Enable FMU SD card hardfault detection check

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

Enabled (1)
COM_ARM_IMU_ACC (FLOAT)Maximum accelerometer inconsistency between IMU units that will allow arming [0.1, 1.0] (0.05)0.7m/s^2
COM_ARM_IMU_GYR (FLOAT)Maximum rate gyro inconsistency between IMU units that will allow arming [0.02, 0.3] (0.01)0.25rad/s
COM_ARM_MAG_ANG (INT32)Maximum magnetic field inconsistency between units that will allow arming

Comment: Set -1 to disable the check.

[3, 180] 60deg
COM_ARM_MAG_STR (INT32)Enable mag strength preflight check

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

参数对照:
  • 0: Disabled
  • 1: Deny arming
  • 2: Warning only
2
COM_ARM_MIS_REQ (INT32)Require valid mission to arm

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

Disabled (0)
COM_ARM_ODID (INT32)Enable Drone ID system detection and health check

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

参数对照:
  • 0: Disabled
  • 1: Warning only
  • 2: Enforce Open Drone ID system presence
0
COM_ARM_SDCARD (INT32)Enable FMU SD card detection check

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

参数对照:
  • 0: Disabled
  • 1: Warning only
  • 2: Enforce SD card presence
1
COM_ARM_SWISBTN (INT32)Arm switch is a momentary button

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

Disabled (0)
COM_ARM_WO_GPS (INT32)Allow arming without GPS Values:
  • 0: Require GPS lock to arm
  • 1: Allow arming without GPS
1
COM_CPU_MAX (FLOAT)Maximum allowed CPU load to still arm

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

[-1, 100] (1)95.0%
COM_DISARM_LAND (FLOAT)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.

(0.1)2.0s
COM_DISARM_MAN (INT32)Allow disarming via switch/stick/button on multicopters in manual thrust modes

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

Enabled (1)
COM_DISARM_PRFLT (FLOAT)Time-out for auto disarm if not taking off

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

(0.1)10.0s
COM_DL_LOSS_T (INT32)GCS connection loss time threshold

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

[5, 300] (1)10s
COM_FAIL_ACT_T (FLOAT)Delay between failsafe condition triggered and failsafe reaction

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

[0.0, 25.0] 5.s
COM_FLIGHT_UUID (INT32)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.

[0, ?] 0
COM_FLTMODE1 (INT32)Mode slot 1

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

参数对照:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTMODE2 (INT32)Mode slot 2

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

参数对照:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTMODE3 (INT32)Mode slot 3

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

参数对照:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTMODE4 (INT32)Mode slot 4

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

参数对照:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTMODE5 (INT32)Mode slot 5

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

Values:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTMODE6 (INT32)Mode slot 6

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

参数对照:
  • -1: Unassigned
  • 0: Manual
  • 1: Altitude
  • 2: Position
  • 3: Mission
  • 4: Hold
  • 5: Return
  • 6: Acro
  • 7: Offboard
  • 8: Stabilized
  • 9: Position Slow
  • 10: Takeoff
  • 11: Land
  • 12: Follow Me
  • 13: Precision Land
  • 100: External Mode 1
  • 101: External Mode 2
  • 102: External Mode 3
  • 103: External Mode 4
  • 104: External Mode 5
  • 105: External Mode 6
  • 106: External Mode 7
  • 107: External Mode 8
-1
COM_FLTT_LOW_ACT (INT32)Remaining flight time low failsafe

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

参数对照:
  • 0: None
  • 1: Warning
  • 3: Return
(1)3
COM_FLT_PROFILE (INT32)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).

参数对照:
  • 0: Default
  • 100: Pro User
  • 200: Flight Tester
  • 300: Developer
0
COM_FLT_TIME_MAX (INT32)Maximum allowed flight time

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

[-1, ?] -1s
COM_FORCE_SAFETY (INT32)Enable force safety

Comment: Force safety when the vehicle disarms

Disabled (0)
COM_HLDL_LOSS_T (INT32)High Latency Datalink loss time threshold

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

[60, 3600] 120s
COM_HLDL_REG_T (INT32)High Latency Datalink regain time threshold

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

[0, 60] 0s
COM_HOME_EN (INT32)Home position enabled

Comment: Set home position automatically if possible.

Reboot required: true

Enabled (1)
COM_HOME_IN_AIR (INT32)Allows setting the home position after takeoff

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

Disabled (0)
COM_IMB_PROP_ACT (INT32)Imbalanced propeller failsafe mode

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

参数对照:
  • -1: Disabled
  • 0: Warning
  • 1: Return
  • 2: Land
(1)0
COM_KILL_DISARM (FLOAT)Timeout value for disarming when kill switch is engaged [0.0, 30.0] (0.1)5.0s
COM_LKDOWN_TKO (FLOAT)Timeout for detecting a failure after takeoff

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

[-1.0, 5.0] 3.0s
COM_LOW_BAT_ACT (INT32)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.

参数对照:
  • 0: Warning
  • 2: Land mode
  • 3: Return at critical level, land at emergency level
0
COM_MODE0_HASH (INT32)External mode identifier 0

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

0
COM_MODE1_HASH (INT32)External mode identifier 1

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

0
COM_MODE2_HASH (INT32)External mode identifier 2

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

0
COM_MODE3_HASH (INT32)External mode identifier 3

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

0
COM_MODE4_HASH (INT32)External mode identifier 4

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

0
COM_MODE5_HASH (INT32)External mode identifier 5

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

0
COM_MODE6_HASH (INT32)External mode identifier 6

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

0
COM_MODE7_HASH (INT32)External mode identifier 7

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

0
COM_MOT_TEST_EN (INT32)Enable Actuator Testing

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

Enabled (1)
COM_OBC_LOSS_T (FLOAT)Time-out to wait when onboard computer connection is lost before warning about loss connection [0, 60] (0.01)5.0s
COM_OBL_RC_ACT (INT32)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.

参数对照:
  • 0: Position mode
  • 1: Altitude mode
  • 2: Manual
  • 3: Return mode
  • 4: Land mode
  • 5: Hold mode
  • 6: Terminate
  • 7: Disarm
0
COM_OBS_AVOID (INT32)Flag to enable obstacle avoidance Disabled (0)
COM_OF_LOSS_T (FLOAT)Time-out to wait when offboard connection is lost before triggering offboard lost action

Comment: See COM_OBL_RC_ACT to configure action.

[0, 60] (0.01)1.0s
COM_PARACHUTE (INT32)Expect and require a healthy MAVLink parachute system Disabled (0)
COM_POSCTL_NAVL (INT32)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. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.

参数对照:
  • 0: Altitude/Manual
  • 1: Land/Descend
0
COM_POS_FS_DELAY (INT32)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.

[1, 100] 1s
COM_POS_FS_EPH (FLOAT)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. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.

[-1, 400] 5.m
COM_POS_LOW_EPH (FLOAT)EPH threshold for RTL

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

[-1, 1000] -1.0m
COM_POWER_COUNT (INT32)Required number of redundant power modules

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

[0, 4] 1
COM_PREARM_MODE (INT32)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.

参数对照:
  • 0: Disabled
  • 1: Safety button
  • 2: Always
0
COM_QC_ACT (INT32)Set command after a quadchute Values:
  • -1: Warning only
  • 0: Return mode
  • 1: Land mode
  • 2: Hold mode
0
COM_RAM_MAX (FLOAT)Maximum allowed RAM usage to pass checks

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

[-1, 100] (1)95.0%
COM_RCL_EXCEPT (INT32)RC loss exceptions

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

Bitmask:
  • 0: Mission
  • 1: Hold
  • 2: Offboard
[0, 31] 0
COM_RC_ARM_HYST (INT32)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.

[100, 1500] 1000ms
COM_RC_IN_MODE (INT32)RC control input mode

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

参数对照:
  • 0: RC Transmitter only
  • 1: Joystick only
  • 2: RC and Joystick with fallback
  • 3: RC or Joystick keep first
  • 4: Stick input disabled
[0, 4] 3
COM_RC_LOSS_T (FLOAT)Manual control loss timeout

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

[0, 35] (0.1)0.5s
COM_RC_OVERRIDE (INT32)Enable RC stick override of auto and/or offboard modes

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

Bitmask:
  • 0: Enable override during auto modes (except for in critical battery reaction)
  • 1: Enable override during offboard mode
[0, 3] 1
COM_RC_STICK_OV (FLOAT)RC stick override threshold

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

[5, 80] (0.05)30.0%
COM_SPOOLUP_TIME (FLOAT)Enforced delay between arming and further navigation

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

[0, 30] (0.1)1.0s
COM_TAKEOFF_ACT (INT32)Action after TAKEOFF has been accepted

Comment: The mode transition after TAKEOFF has completed successfully.

参数对照:
  • 0: Hold
  • 1: Mission (if valid)
0
COM_THROW_EN (INT32)Enable throw-start

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

Disabled (0)
COM_THROW_SPEED (FLOAT)Minimum speed for the throw start

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

[0, ?] (0.1)5m/s
COM_VEL_FS_EVH (FLOAT)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. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).

[0, ?] 1.m/s
COM_WIND_MAX (FLOAT)High wind speed failsafe threshold

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

[-1, ?] (0.1)-1.m/s
COM_WIND_MAX_ACT (INT32)High wind failsafe mode

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

参数对照:
  • 0: None
  • 1: Warning
  • 2: Hold
  • 3: Return
  • 4: Terminate
  • 5: Land
(1)0
COM_WIND_WARN (FLOAT)Wind speed warning threshold

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

[-1, ?] (0.1)-1.m/s
NAV_DLL_ACT (INT32)Set GCS connection loss failsafe mode

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

参数对照:
  • 0: Disabled
  • 1: Hold mode
  • 2: Return mode
  • 3: Land mode
  • 5: Terminate
  • 6: Disarm
[0, 6] 0
NAV_RCL_ACT (INT32)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.

参数对照:
  • 1: Hold mode
  • 2: Return mode
  • 3: Land mode
  • 5: Terminate
  • 6: Disarm
[1, 6] 2

Cyphal ​

名称参数描述[Min, Max] (Incr.)默认值单位
CYPHAL_BAUD (INT32)UAVCAN/CAN v1 bus bitrate

Reboot required: true

[20000, 1000000] 1000000bit/s
CYPHAL_ENABLE (INT32)Cyphal

Comment: 0 - Cyphal disabled. 1 - Enables Cyphal

Reboot required: true

Enabled (1)
CYPHAL_ID (INT32)Cyphal Node ID

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

Reboot required: true

[-1, 125] 1
UCAN1_ACTR_PUB (INT32)actuator_outputs uORB over Cyphal publication port ID [-1, 6143] -1
UCAN1_BMS_BP_SUB (INT32)UDRAL battery parameters subscription port ID [-1, 6143] -1
UCAN1_BMS_BS_SUB (INT32)UDRAL battery status subscription port ID [-1, 6143] -1
UCAN1_BMS_ES_SUB (INT32)UDRAL battery energy source subscription port ID [-1, 6143] -1
UCAN1_ESC0_SUB (INT32)ESC 0 subscription port ID [-1, 6143] -1
UCAN1_ESC_PUB (INT32)Cyphal ESC publication port ID [-1, 6143] -1
UCAN1_GPS0_SUB (INT32)GPS 0 subscription port ID [-1, 6143] -1
UCAN1_GPS1_SUB (INT32)GPS 1 subscription port ID [-1, 6143] -1
UCAN1_GPS_PUB (INT32)Cyphal GPS publication port ID [-1, 6143] -1
UCAN1_LG_BMS_SUB (INT32)Cyphal legacy battery port ID [-1, 6143] -1
UCAN1_SERVO_PUB (INT32)Cyphal Servo publication port ID [-1, 6143] -1
UCAN1_UORB_GPS (INT32)sensor_gps uORB over Cyphal subscription port ID [-1, 6143] -1
UCAN1_UORB_GPS_P (INT32)sensor_gps uORB over Cyphal publication port ID [-1, 6143] -1

DShot ​

名称参数描述[Min, Max] (Incr.)默认值单位
DSHOT_3D_DEAD_H (INT32)DSHOT 3D deadband high

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

[1000, 1999] 1000
DSHOT_3D_DEAD_L (INT32)DSHOT 3D deadband low

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

[0, 1000] 1000
DSHOT_3D_ENABLE (INT32)Allows for 3d mode when using DShot and suitable mixer

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

Disabled (0)
DSHOT_BIDIR_EN (INT32)Enable bidirectional DShot

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

Reboot required: True

Disabled (0)
DSHOT_MIN (FLOAT)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.

[0, 1] (0.01)0.055%
DSHOT_TEL_CFG (INT32)Serial Configuration for DShot Driver

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

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

Reboot required: true

0
MOT_POLE_COUNT (INT32)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.

14

EKF2 ​

名称参数描述[Min, Max] (Incr.)默认值单位
EKF2_ABIAS_INIT (FLOAT)1-sigma IMU accelerometer switch-on bias

Reboot required: True

[0.0, 0.5] 0.2m/s^2
EKF2_ABL_ACCLIM (FLOAT)Maximum IMU accel magnitude that allows IMU bias learning

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

[20.0, 200.0] 25.0m/s^2
EKF2_ABL_GYRLIM (FLOAT)Maximum IMU gyro angular rate magnitude that allows IMU bias learning

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

[2.0, 20.0] 3.0rad/s
EKF2_ABL_LIM (FLOAT)Accelerometer bias learning limit

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

[0.0, 0.8] 0.4m/s^2
EKF2_ABL_TAU (FLOAT)Accel bias learning inhibit time constant

Comment: 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.

[0.1, 1.0] 0.5s
EKF2_ACC_B_NOISE (FLOAT)Process noise for IMU accelerometer bias prediction [0.0, 0.01] 0.003m/s^3
EKF2_ACC_NOISE (FLOAT)Accelerometer noise for covariance prediction [0.01, 1.0] 0.35m/s^2
EKF2_AGP_CTRL (INT32)Aux global position (AGP) sensor aiding

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

Bitmask:
  • 0: Horizontal position
  • 1: Vertical position
[0, 3] 0
EKF2_AGP_DELAY (FLOAT)Aux global position estimator delay relative to IMU measurements

Reboot required: True

[0, 300] 0ms
EKF2_AGP_GATE (FLOAT)Gate size for aux global position fusion

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

[1.0, ?] 3.0SD
EKF2_AGP_NOISE (FLOAT)Measurement noise for aux global position measurements

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

[0.01, ?] 0.9m
EKF2_ANGERR_INIT (FLOAT)1-sigma tilt angle uncertainty after gravity vector alignment

Reboot required: True

[0.0, 0.5] 0.1rad
EKF2_ARSP_THR (FLOAT)Airspeed fusion threshold

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

[0.0, ?] 0.0m/s
EKF2_ASPD_MAX (FLOAT)Maximum airspeed used for baro static pressure compensation [5.0, 50.0] 20.0m/s
EKF2_ASP_DELAY (FLOAT)Airspeed measurement delay relative to IMU measurements

Reboot required: True

[0, 300] 100ms
EKF2_AVEL_DELAY (FLOAT)Auxiliary Velocity Estimate delay relative to IMU measurements

Reboot required: True

[0, 300] 5ms
EKF2_BARO_CTRL (INT32)Barometric sensor height aiding

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

Enabled (1)
EKF2_BARO_DELAY (FLOAT)Barometer measurement delay relative to IMU measurements

Reboot required: True

[0, 300] 0ms
EKF2_BARO_GATE (FLOAT)Gate size for barometric and GPS height fusion

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

[1.0, ?] 5.0SD
EKF2_BARO_NOISE (FLOAT)Measurement noise for barometric altitude [0.01, 15.0] 3.5m
EKF2_BCOEF_X (FLOAT)X-axis ballistic coefficient used for multi-rotor wind estimation

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

[0.0, 200.0] 100.0kg/m^2
EKF2_BCOEF_Y (FLOAT)Y-axis ballistic coefficient used for multi-rotor wind estimation

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

[0.0, 200.0] 100.0kg/m^2
EKF2_BETA_GATE (FLOAT)Gate size for synthetic sideslip fusion

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

[1.0, ?] 5.0SD
EKF2_BETA_NOISE (FLOAT)Noise for synthetic sideslip fusion [0.1, 1.0] 0.3m/s
EKF2_DECL_TYPE (INT32)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.

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

Reboot required: True

[0, 3] 3
EKF2_DELAY_MAX (FLOAT)Maximum delay of all the aiding sensors

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

Reboot required: True

[0, 1000] 200ms
EKF2_DRAG_CTRL (INT32)Multirotor wind estimation selection

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

Disabled (0)
EKF2_DRAG_NOISE (FLOAT)Specific drag force observation noise variance

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

[0.5, 10.0] 2.5(m/s^2)^2
EKF2_EAS_NOISE (FLOAT)Measurement noise for airspeed fusion [0.5, 5.0] 1.4m/s
EKF2_EN (INT32)EKF2 enable Enabled (1)
EKF2_EVA_NOISE (FLOAT)Measurement noise for vision angle measurements

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

[0.05, ?] 0.1rad
EKF2_EVP_GATE (FLOAT)Gate size for vision position fusion

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

[1.0, ?] 5.0SD
EKF2_EVP_NOISE (FLOAT)Measurement noise for vision position measurements

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

[0.01, ?] 0.1m
EKF2_EVV_GATE (FLOAT)Gate size for vision velocity estimate fusion

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

[1.0, ?] 3.0SD
EKF2_EVV_NOISE (FLOAT)Measurement noise for vision velocity measurements

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

[0.01, ?] 0.1m/s
EKF2_EV_CTRL (INT32)External vision (EV) sensor aiding

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

Bitmask:
  • 0: Horizontal position
  • 1: Vertical position
  • 2: 3D velocity
  • 3: Yaw
[0, 15] 0
EKF2_EV_DELAY (FLOAT)Vision Position Estimator delay relative to IMU measurements

Reboot required: True

[0, 300] 0ms
EKF2_EV_NOISE_MD (INT32)External vision (EV) noise mode

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

参数对照:
  • 0: EV reported variance (parameter lower bound)
  • 1: EV noise parameters
0
EKF2_EV_POS_X (FLOAT)X position of VI sensor focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_EV_POS_Y (FLOAT)Y position of VI sensor focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_EV_POS_Z (FLOAT)Z position of VI sensor focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_EV_QMIN (INT32)External vision (EV) minimum quality (optional)

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

[0, 100] 0
EKF2_FUSE_BETA (INT32)Enable synthetic sideslip fusion

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

Disabled (0)
EKF2_GBIAS_INIT (FLOAT)1-sigma IMU gyro switch-on bias

Reboot required: True

[0.0, 0.2] 0.1rad/s
EKF2_GND_EFF_DZ (FLOAT)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.

[0.0, 10.0] 4.0m
EKF2_GND_MAX_HGT (FLOAT)Height above ground level for ground effect zone

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

[0.0, 5.0] 0.5m
EKF2_GPS_CHECK (INT32)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 : Maximum allowed 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. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

Bitmask:
  • 0: Min sat count (EKF2_REQ_NSATS)
  • 1: Max 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)
[0, 511] 245
EKF2_GPS_CTRL (INT32)GNSS sensor aiding

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

Bitmask:
  • 0: Lon/lat
  • 1: Altitude
  • 2: 3D velocity
  • 3: Dual antenna heading
[0, 15] 7
EKF2_GPS_DELAY (FLOAT)GPS measurement delay relative to IMU measurements

Reboot required: True

[0, 300] 110ms
EKF2_GPS_POS_X (FLOAT)X position of GPS antenna in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_GPS_POS_Y (FLOAT)Y position of GPS antenna in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_GPS_POS_Z (FLOAT)Z position of GPS antenna in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_GPS_P_GATE (FLOAT)Gate size for GNSS position fusion

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

[1.0, ?] 5.0SD
EKF2_GPS_P_NOISE (FLOAT)Measurement noise for GNSS position [0.01, 10.0] 0.5m
EKF2_GPS_V_GATE (FLOAT)Gate size for GNSS velocity fusion

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

[1.0, ?] 5.0SD
EKF2_GPS_V_NOISE (FLOAT)Measurement noise for GNSS velocity [0.01, 5.0] 0.3m/s
EKF2_GRAV_NOISE (FLOAT)Accelerometer measurement noise for gravity based observations [0.1, 10.0] 1.0g0
EKF2_GSF_TAS (FLOAT)Default value of true airspeed used in EKF-GSF AHRS calculation

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

[0.0, 100.0] 15.0m/s
EKF2_GYR_B_LIM (FLOAT)Gyro bias learning limit

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

[0.0, 0.4] 0.15rad/s
EKF2_GYR_B_NOISE (FLOAT)Process noise for IMU rate gyro bias prediction [0.0, 0.01] 0.001rad/s^2
EKF2_GYR_NOISE (FLOAT)Rate gyro noise for covariance prediction [0.0001, 0.1] 0.015rad/s
EKF2_HDG_GATE (FLOAT)Gate size for heading fusion

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

[1.0, ?] 2.6SD
EKF2_HEAD_NOISE (FLOAT)Measurement noise for magnetic heading fusion [0.01, 1.0] 0.3rad
EKF2_HGT_REF (INT32)Determines the reference source of height data used by the EKF

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

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

Reboot required: True

1
EKF2_IMU_CTRL (INT32)IMU control Bitmask:
  • 0: Gyro Bias
  • 1: Accel Bias
  • 2: Gravity vector fusion
[0, 7] 7
EKF2_IMU_POS_X (FLOAT)X position of IMU in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_IMU_POS_Y (FLOAT)Y position of IMU in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_IMU_POS_Z (FLOAT)Z position of IMU in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_LOG_VERBOSE (INT32)Verbose logging Enabled (1)
EKF2_MAG_ACCLIM (FLOAT)Horizontal acceleration threshold used for heading observability check

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

[0.0, 5.0] 0.5m/s^2
EKF2_MAG_B_NOISE (FLOAT)Process noise for body magnetic field prediction [0.0, 0.1] 0.0001gauss/s
EKF2_MAG_CHECK (INT32)Magnetic field strength test selection

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

Bitmask:
  • 0: Strength (EKF2_MAG_CHK_STR)
  • 1: Inclination (EKF2_MAG_CHK_INC)
  • 2: Wait for WMM
[0, 7] 1
EKF2_MAG_CHK_INC (FLOAT)Magnetic field inclination check tolerance

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

[0.0, 90.0] 20.0deg
EKF2_MAG_CHK_STR (FLOAT)Magnetic field strength check tolerance

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

[0.0, 1.0] 0.2gauss
EKF2_MAG_DECL (FLOAT)Magnetic declination 0deg
EKF2_MAG_DELAY (FLOAT)Magnetometer measurement delay relative to IMU measurements

Reboot required: True

[0, 300] 0ms
EKF2_MAG_E_NOISE (FLOAT)Process noise for earth magnetic field prediction [0.0, 0.1] 0.001gauss/s
EKF2_MAG_GATE (FLOAT)Gate size for magnetometer XYZ component fusion

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

[1.0, ?] 3.0SD
EKF2_MAG_NOISE (FLOAT)Measurement noise for magnetometer 3-axis fusion [0.001, 1.0] 0.05gauss
EKF2_MAG_TYPE (INT32)Type of magnetometer fusion

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

参数对照:
  • 0: Automatic
  • 1: Magnetic heading
  • 5: None
  • 6: Init

Reboot required: True

0
EKF2_MCOEF (FLOAT)Propeller momentum drag coefficient for multi-rotor wind estimation

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

[0, 1.0] 0.151/s
EKF2_MIN_RNG (FLOAT)Expected range finder reading when on ground

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

[0.01, ?] 0.1m
EKF2_MULTI_IMU (INT32)Multi-EKF IMUs

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

Reboot required: True

[0, 4] 0
EKF2_MULTI_MAG (INT32)Multi-EKF Magnetometers

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

Reboot required: True

[0, 4] 0
EKF2_NOAID_NOISE (FLOAT)Measurement noise for non-aiding position hold [0.5, 50.0] 10.0m
EKF2_NOAID_TOUT (INT32)Maximum inertial dead-reckoning time

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

[500000, 10000000] 5000000µs
EKF2_OF_CTRL (INT32)Optical flow aiding

Comment: Enable optical flow fusion.

Disabled (0)
EKF2_OF_DELAY (FLOAT)Optical flow measurement delay relative to IMU measurements

Comment: Assumes measurement is timestamped at trailing edge of integration period

Reboot required: True

[0, 300] 20ms
EKF2_OF_GATE (FLOAT)Gate size for optical flow fusion

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

[1.0, ?] 3.0SD
EKF2_OF_N_MAX (FLOAT)Optical flow maximum noise

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

[0.05, ?] 0.5rad/s
EKF2_OF_N_MIN (FLOAT)Optical flow minimum noise

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

[0.05, ?] 0.15rad/s
EKF2_OF_POS_X (FLOAT)X position of optical flow focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_OF_POS_Y (FLOAT)Y position of optical flow focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_OF_POS_Z (FLOAT)Z position of optical flow focal point in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_OF_QMIN (INT32)In air optical flow minimum quality

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

[0, 255] 1
EKF2_OF_QMIN_GND (INT32)On ground optical flow minimum quality

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

[0, 255] 0
EKF2_PCOEF_XN (FLOAT)Static pressure position error coefficient for the negative X axis

Comment: 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.

[-0.5, 0.5] 0.0
EKF2_PCOEF_XP (FLOAT)Static pressure position error coefficient for the positive X axis

Comment: 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.

[-0.5, 0.5] 0.0
EKF2_PCOEF_YN (FLOAT)Pressure position error coefficient for the negative Y axis

Comment: 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.

[-0.5, 0.5] 0.0
EKF2_PCOEF_YP (FLOAT)Pressure position error coefficient for the positive Y axis

Comment: 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.

[-0.5, 0.5] 0.0
EKF2_PCOEF_Z (FLOAT)Static pressure position error coefficient for the Z axis

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

[-0.5, 0.5] 0.0
EKF2_PREDICT_US (INT32)EKF prediction period

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

[1000, 20000] 10000µs
EKF2_REQ_EPH (FLOAT)Required EPH to use GPS [2, 100] 3.0m
EKF2_REQ_EPV (FLOAT)Required EPV to use GPS [2, 100] 5.0m
EKF2_REQ_GPS_H (FLOAT)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

[0.1, ?] 10.0s
EKF2_REQ_HDRIFT (FLOAT)Maximum horizontal drift speed to use GPS [0.1, 1.0] 0.1m/s
EKF2_REQ_NSATS (INT32)Required satellite count to use GPS [4, 12] 6
EKF2_REQ_PDOP (FLOAT)Maximum PDOP to use GPS [1.5, 5.0] 2.5
EKF2_REQ_SACC (FLOAT)Required speed accuracy to use GPS [0.5, 5.0] 0.5m/s
EKF2_REQ_VDRIFT (FLOAT)Maximum vertical drift speed to use GPS [0.1, 1.5] 0.2m/s
EKF2_RNG_A_HMAX (FLOAT)Maximum height above ground allowed for conditional range aid mode

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

[1.0, 10.0] 5.0m
EKF2_RNG_A_IGATE (FLOAT)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

[0.1, 5.0] 1.0SD
EKF2_RNG_A_VMAX (FLOAT)Maximum horizontal velocity allowed for conditional range aid mode

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

[0.1, 2] 1.0m/s
EKF2_RNG_CTRL (INT32)Range sensor height aiding

Comment: WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.

参数对照:
  • 0: Disable range fusion
  • 1: Enabled (conditional mode)
  • 2: Enabled
1
EKF2_RNG_DELAY (FLOAT)Range finder measurement delay relative to IMU measurements

Reboot required: True

[0, 300] 5ms
EKF2_RNG_GATE (FLOAT)Gate size for range finder fusion

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

[1.0, ?] 5.0SD
EKF2_RNG_K_GATE (FLOAT)Gate size used for range finder kinematic consistency check

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

[0.1, 5.0] 1.0SD
EKF2_RNG_NOISE (FLOAT)Measurement noise for range finder fusion [0.01, ?] 0.1m
EKF2_RNG_PITCH (FLOAT)Range sensor pitch offset [-0.75, 0.75] 0.0rad
EKF2_RNG_POS_X (FLOAT)X position of range finder origin in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_RNG_POS_Y (FLOAT)Y position of range finder origin in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_RNG_POS_Z (FLOAT)Z position of range finder origin in body frame

Comment: Forward axis with origin relative to vehicle centre of gravity

0.0m
EKF2_RNG_QLTY_T (FLOAT)Minumum range validity period

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

[0.1, 5] 1.0s
EKF2_RNG_SFE (FLOAT)Range finder range dependent noise scaler

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

[0.0, 0.2] 0.05m/m
EKF2_SEL_ERR_RED (FLOAT)Selector error reduce threshold

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

0.2
EKF2_SEL_IMU_ACC (FLOAT)Selector acceleration threshold

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

1.0m/s^2
EKF2_SEL_IMU_ANG (FLOAT)Selector angular threshold

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

15.0deg
EKF2_SEL_IMU_RAT (FLOAT)Selector angular rate threshold

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

7.0deg/s
EKF2_SEL_IMU_VEL (FLOAT)Selector angular threshold

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

2.0m/s
EKF2_SYNT_MAG_Z (INT32)Enable synthetic magnetometer Z component measurement

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

Disabled (0)
EKF2_TAS_GATE (FLOAT)Gate size for TAS fusion

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

[1.0, ?] 5.0SD
EKF2_TAU_POS (FLOAT)Output predictor position time constant

Comment: Controls how tightly the output track the EKF states

[0.1, 1.0] 0.25s
EKF2_TAU_VEL (FLOAT)Time constant of the velocity output prediction and smoothing filter [?, 1.0] 0.25s
EKF2_TERR_GRAD (FLOAT)Magnitude of terrain gradient [0.0, ?] 0.5m/m
EKF2_TERR_NOISE (FLOAT)Terrain altitude process noise [0.5, ?] 5.0m/s
EKF2_WIND_NSD (FLOAT)Process noise spectral density for wind velocity prediction

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

[0.0, 1.0] 0.05m/s^2/sqrt(Hz)

ESC ​

NameDescription[Min, Max] (Incr.)DefaultUnits
ESC_BL_VER (INT32)Required esc bootloader version [0, 65535] 0
ESC_FW_VER (INT32)Required esc firmware version [0, 65535] 0
ESC_HW_VER (INT32)Required esc hardware version [0, 65535] 0

Events ​

名称参数描述[Min, Max] (Incr.)默认值单位
EV_TSK_RC_LOSS (INT32)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

Disabled (0)
EV_TSK_STAT_DIS (INT32)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

Disabled (0)

FW Attitude Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_MAN_P_MAX (FLOAT)Maximum manual pitch angle

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

[0.0, 90.0] (0.5)30.0deg
FW_MAN_R_MAX (FLOAT)Maximum manual roll angle

Comment: Applies to both directions in all manual modes with attitude stabilization

[0.0, 90.0] (0.5)45.0deg
FW_MAN_YR_MAX (FLOAT)Maximum manually added yaw rate

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

[0, ?] (0.5)30.deg/s
FW_PSP_OFF (FLOAT)Pitch setpoint offset (pitch at level flight)

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

[-90.0, 90.0] (0.5)0.0deg
FW_P_RMAX_NEG (FLOAT)Maximum negative / down pitch rate setpoint [0.0, 180] (0.5)60.0deg/s
FW_P_RMAX_POS (FLOAT)Maximum positive / up pitch rate setpoint [0.0, 180] (0.5)60.0deg/s
FW_P_TC (FLOAT)Attitude pitch time constant

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

[0.2, 1.0] (0.05)0.4s
FW_R_RMAX (FLOAT)Maximum roll rate setpoint [0.0, 180] (0.5)70.0deg/s
FW_R_TC (FLOAT)Attitude Roll Time Constant

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

[0.2, 1.0] (0.05)0.4s
FW_SPOILERS_DESC (FLOAT)Spoiler descend setting [0.0, 1.0] (0.01)0.norm
FW_SPOILERS_LND (FLOAT)Spoiler landing setting [0.0, 1.0] (0.01)0.norm
FW_WR_FF (FLOAT)Wheel steering rate feed forward [0.0, 10] (0.05)0.2%/rad/s
FW_WR_I (FLOAT)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.

[0.0, 10] (0.005)0.1%/rad
FW_WR_IMAX (FLOAT)Wheel steering rate integrator limit [0.0, 1.0] (0.05)0.4
FW_WR_P (FLOAT)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.

[0.0, 10] (0.005)0.5%/rad/s
FW_W_EN (INT32)Enable wheel steering controller

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

Disabled (0)
FW_W_RMAX (FLOAT)Maximum wheel steering rate

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

[0.0, 90.0] (0.5)30.0deg/s
FW_Y_RMAX (FLOAT)Maximum yaw rate setpoint [0.0, 180] (0.5)50.0deg/s

FW Auto Landing ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_LND_ABORT (INT32)Bit mask to set the automatic landing abort conditions

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

Bitmask:
  • 0: Abort if terrain is not found (only applies to mission landings)
  • 1: Abort if terrain times out (after a first successful measurement)
[0, 3] 3
FW_LND_AIRSPD (FLOAT)Landing airspeed

Comment: The calibrated airspeed setpoint during landing. If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.

[-1.0, ?] (0.1)-1.m/s
FW_LND_ANG (FLOAT)Maximum landing slope angle

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

[1.0, 15.0] (0.5)5.0deg
FW_LND_EARLYCFG (INT32)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.

Disabled (0)
FW_LND_FLALT (FLOAT)Landing flare altitude (relative to landing altitude)

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

[0.0, ?] (0.5)0.5m
FW_LND_FL_PMAX (FLOAT)Flare, maximum pitch

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

[0, 45.0] (0.5)15.0deg
FW_LND_FL_PMIN (FLOAT)Flare, minimum pitch

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

[-5, 15.0] (0.5)2.5deg
FW_LND_FL_SINK (FLOAT)Landing flare sink rate

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

[0.0, 2] (0.1)0.25m/s
FW_LND_FL_TIME (FLOAT)Landing flare time

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

[0.1, 5.0] (0.1)1.0s
FW_LND_NUDGE (INT32)Landing touchdown nudging option

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

参数对照:
  • 0: Disable nudging
  • 1: Nudge approach angle
  • 2: Nudge approach path
[0, 2] 2
FW_LND_TD_OFF (FLOAT)Maximum lateral position offset for the touchdown point [0.0, 10.0] (1)3.0m
FW_LND_TD_TIME (FLOAT)Landing touchdown time (since flare start)

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

[-1.0, 5.0] (0.1)-1.0s
FW_LND_THRTC_SC (FLOAT)Altitude time constant factor for landing

Comment: Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.

[0.2, 1.0] (0.1)1.0
FW_LND_USETER (INT32)Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible

Comment: NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.

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

FW Geometry ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_WING_HEIGHT (FLOAT)Height (AGL) of the wings when the aircraft is on the ground

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

[0.0, ?] (1)0.5m
FW_WING_SPAN (FLOAT)The aircraft's wing span (length from tip to tip)

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

[0.1, ?] (0.1)3.0m

FW Launch detection ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_LAUN_AC_T (FLOAT)Trigger time

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

[0.0, 5.0] (0.05)0.05s
FW_LAUN_AC_THLD (FLOAT)Trigger acceleration threshold

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

[0, ?] (0.5)30.0m/s^2
FW_LAUN_DETCN_ON (INT32)Fixed-wing launch detection

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

Disabled (0)
FW_LAUN_MOT_DEL (FLOAT)Motor delay

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

[0.0, 10.0] (0.5)0.0s

FW NPFG Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
NPFG_DAMPING (FLOAT)NPFG damping ratio

Comment: Damping ratio of the NPFG control law.

[0.10, 1.00] (0.01)0.7
NPFG_EN_MIN_GSP (INT32)Enable minimum forward ground speed maintaining excess wind handling logic Enabled (1)
NPFG_GSP_MAX_TK (FLOAT)Maximum, minimum forward ground speed for track keeping in excess wind

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

[0.0, 10.0] (0.5)5.0m/s
NPFG_LB_PERIOD (INT32)Enable automatic lower bound on the NPFG period

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

Enabled (1)
NPFG_PERIOD (FLOAT)NPFG period

Comment: Period of the NPFG control law.

[1.0, 100.0] (0.1)10.0s
NPFG_PERIOD_SF (FLOAT)Period safety factor

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

[1.0, 10.0] (0.1)1.5
NPFG_ROLL_TC (FLOAT)Roll time constant

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

[0.00, 2.00] (0.05)0.5s
NPFG_SW_DST_MLT (FLOAT)NPFG switch distance multiplier

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

[0.1, 1.0] (0.01)0.32
NPFG_TRACK_KEEP (INT32)Enable track keeping excess wind handling logic Enabled (1)
NPFG_UB_PERIOD (INT32)Enable automatic upper bound on the NPFG period

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

Enabled (1)
NPFG_WIND_REG (INT32)Enable wind excess regulation

Comment: Disabling this parameter further disables all other airspeed incrementation options.

Enabled (1)

FW Path Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_PN_R_SLEW_MAX (FLOAT)Path navigation roll slew rate limit

Comment: The maximum change in roll angle setpoint per second. This limit is applied in all Auto modes, plus manual Position and Altitude modes.

[0, ?] (1)90.0deg/s
FW_POS_STK_CONF (INT32)RC stick configuration fixed-wing

Comment: Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.

Bitmask:
  • 0: Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
  • 1: Enable airspeed setpoint via sticks in altitude and position flight mode
[0, 3] 2
FW_R_LIM (FLOAT)Maximum roll angle

Comment: The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.

[35.0, 65.0] (0.5)50.0deg
FW_TKO_PITCH_MIN (FLOAT)Minimum pitch during takeoff [-5.0, 30.0] (0.5)10.0deg

FW Performance ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_AIRSPD_MAX (FLOAT)Maximum Airspeed (CAS)

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

[0.5, ?] (0.5)20.0m/s
FW_AIRSPD_MIN (FLOAT)Minimum Airspeed (CAS)

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

[0.5, ?] (0.5)10.0m/s
FW_AIRSPD_STALL (FLOAT)Stall Airspeed (CAS)

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

[0.5, ?] (0.5)7.0m/s
FW_AIRSPD_TRIM (FLOAT)Trim (Cruise) Airspeed

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

[0.5, ?] (0.5)15.0m/s
FW_SERVICE_CEIL (FLOAT)Service ceiling

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

[-1.0, ?] (1.0)-1.0m
FW_THR_ASPD_MAX (FLOAT)Throttle at max airspeed

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

[0, 1] (0.01)0.
FW_THR_ASPD_MIN (FLOAT)Throttle at min airspeed

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

[0, 1] (0.01)0.
FW_THR_TRIM (FLOAT)Trim throttle

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

[0.0, 1.0] (0.01)0.6norm
FW_T_CLMB_MAX (FLOAT)Maximum climb rate

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

[1.0, 15.0] (0.5)5.0m/s
FW_T_SINK_MIN (FLOAT)Minimum descent rate

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

[1.0, 5.0] (0.5)2.0m/s
WEIGHT_BASE (FLOAT)Vehicle base weight

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

(0.5)-1.0kg
WEIGHT_GROSS (FLOAT)Vehicle gross weight

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

(0.1)-1.0kg

FW Rate Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_ACRO_X_MAX (FLOAT)Acro body roll max rate setpoint [10, 720] 90deg
FW_ACRO_YAW_EN (INT32)Enable yaw rate controller in Acro

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

Disabled (0)
FW_ACRO_Y_MAX (FLOAT)Acro body pitch max rate setpoint [10, 720] 90deg
FW_ACRO_Z_MAX (FLOAT)Acro body yaw max rate setpoint [10, 720] 45deg
FW_ARSP_SCALE_EN (INT32)Enable airspeed scaling

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

Enabled (1)
FW_BAT_SCALE_EN (INT32)Enable throttle scale by battery level

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

Disabled (0)
FW_DTRIM_P_VMAX (FLOAT)Pitch trim increment at maximum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_DTRIM_P_VMIN (FLOAT)Pitch trim increment at minimum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_DTRIM_R_VMAX (FLOAT)Roll trim increment at maximum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_DTRIM_R_VMIN (FLOAT)Roll trim increment at minimum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_DTRIM_Y_VMAX (FLOAT)Yaw trim increment at maximum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_DTRIM_Y_VMIN (FLOAT)Yaw trim increment at minimum airspeed

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

[-0.5, 0.5] (0.01)0.0
FW_FLAPS_LND_SCL (FLOAT)Flaps setting during landing

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

[0.0, 1.0] (0.01)1.0norm
FW_FLAPS_TO_SCL (FLOAT)Flaps setting during take-off

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

[0.0, 1.0] (0.01)0.0norm
FW_MAN_P_SC (FLOAT)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.

[0.0, ?] (0.01)1.0norm
FW_MAN_R_SC (FLOAT)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.

[0.0, 1.0] (0.01)1.0norm
FW_MAN_Y_SC (FLOAT)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.

[0.0, ?] (0.01)1.0norm
FW_PR_D (FLOAT)Pitch rate derivative gain

Comment: Pitch rate differential gain.

[0.0, 10] (0.005)0.%/rad/s
FW_PR_FF (FLOAT)Pitch rate feed forward

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

[0.0, 10.0] (0.05)0.5%/rad/s
FW_PR_I (FLOAT)Pitch rate integrator gain [0.0, 10] (0.005)0.1%/rad
FW_PR_IMAX (FLOAT)Pitch rate integrator limit [0.0, 1.0] (0.05)0.4
FW_PR_P (FLOAT)Pitch rate proportional gain [0.0, 10] (0.005)0.08%/rad/s
FW_RLL_TO_YAW_FF (FLOAT)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 to counteract this effect.

[0.0, ?] (0.01)0.0
FW_RR_D (FLOAT)Roll rate derivative gain [0.0, 10] (0.005)0.0%/rad/s
FW_RR_FF (FLOAT)Roll rate feed forward

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

[0.0, 10.0] (0.05)0.5%/rad/s
FW_RR_I (FLOAT)Roll rate integrator gain [0.0, 10] (0.01)0.1%/rad
FW_RR_IMAX (FLOAT)Roll integrator limit [0.0, 1.0] (0.05)0.2
FW_RR_P (FLOAT)Roll rate proportional gain [0.0, 10] (0.005)0.05%/rad/s
FW_SPOILERS_MAN (INT32)Spoiler input in manual flight

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

Values:
  • 0: Disabled
  • 1: Flaps channel
  • 2: Aux1
0
FW_USE_AIRSPD (INT32)Use airspeed for control

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

Enabled (1)
FW_YR_D (FLOAT)Yaw rate derivative gain [0.0, 10] (0.005)0.0%/rad/s
FW_YR_FF (FLOAT)Yaw rate feed forward

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

[0.0, 10.0] (0.05)0.3%/rad/s
FW_YR_I (FLOAT)Yaw rate integrator gain [0.0, 10] (0.5)0.1%/rad
FW_YR_IMAX (FLOAT)Yaw rate integrator limit [0.0, 1.0] (0.05)0.2
FW_YR_P (FLOAT)Yaw rate proportional gain [0.0, 10] (0.005)0.05%/rad/s

FW TECS ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_GND_SPD_MIN (FLOAT)Minimum groundspeed

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

[0.0, 40] (0.5)5.0m/s
FW_P_LIM_MAX (FLOAT)Maximum pitch angle

Comment: The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.

[0.0, 60.0] (0.5)30.0deg
FW_P_LIM_MIN (FLOAT)Minimum pitch angle

Comment: The minimum pitch angle setpoint for a height-rate or altitude controlled mode.

[-60.0, 0.0] (0.5)-30.0deg
FW_THR_IDLE (FLOAT)Idle throttle

Comment: This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, "landed" conditions will engage idle throttle.

[0.0, 0.4] (0.01)0.0norm
FW_THR_MAX (FLOAT)Throttle limit max

Comment: Maximum throttle limit in altitude controlled modes. Should be set accordingly to achieve FW_T_CLMB_MAX.

[0.0, 1.0] (0.01)1.0norm
FW_THR_MIN (FLOAT)Throttle limit min

Comment: Minimum throttle limit in altitude controlled modes. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.

[0.0, 1.0] (0.01)0.0norm
FW_THR_SLEW_MAX (FLOAT)Throttle max slew rate

Comment: Maximum slew rate for the commanded throttle

[0.0, 1.0] (0.01)0.0
FW_TKO_AIRSPD (FLOAT)Takeoff Airspeed

Comment: The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set <= 0.0, FW_AIRSPD_MIN will be set by default.

[-1.0, ?] (0.1)-1.0m/s
FW_T_ALT_TC (FLOAT)Altitude error time constant [2.0, ?] (0.5)5.0
FW_T_CLMB_R_SP (FLOAT)Default target climbrate

Comment: The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.

[0.5, 15] (0.01)3.0m/s
FW_T_F_ALT_ERR (FLOAT)Minimum altitude error needed to descend with max airspeed. A negative value disables fast descend [-1.0, ?] -1.0
FW_T_HRATE_FF (FLOAT)Height rate feed forward [0.0, 1.0] (0.05)0.3
FW_T_I_GAIN_PIT (FLOAT)Integrator gain pitch

Comment: Integrator gain on the pitch part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.

[0.0, 2.0] (0.05)0.1
FW_T_PTCH_DAMP (FLOAT)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.

[0.0, 2.0] (0.1)0.1
FW_T_RLL2THR (FLOAT)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.

[0.0, 20.0] (0.5)15.0
FW_T_SEB_R_FF (FLOAT)Specific total energy balance rate feedforward gain [0.5, 3] (0.01)1.0
FW_T_SINK_MAX (FLOAT)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.

[1.0, 15.0] (0.5)5.0m/s
FW_T_SINK_R_SP (FLOAT)Default target sinkrate

Comment: The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.

[0.5, 15] (0.01)2.0m/s
FW_T_SPDWEIGHT (FLOAT)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. Set to 2 for gliders.

[0.0, 2.0] (1.0)1.0
FW_T_SPD_DEV_STD (FLOAT)Airspeed rate measurement standard deviation for airspeed filter

Comment: This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.

[0.01, 10.0] (0.1)0.2m/s^2
FW_T_SPD_PRC_STD (FLOAT)Process noise standard deviation for the airspeed rate in the airspeed filter

Comment: This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.

[0.01, 10.0] (0.1)0.2m/s^2
FW_T_SPD_STD (FLOAT)Airspeed measurement standard deviation for airspeed filter

Comment: This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.

[0.01, 10.0] (0.1)0.2m/s
FW_T_STE_R_TC (FLOAT)Specific total energy rate first order filter time constant

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

[0.0, 2] (0.01)0.4
FW_T_TAS_TC (FLOAT)True airspeed error time constant [2.0, ?] (0.5)5.0
FW_T_THR_DAMPING (FLOAT)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.

[0.0, 1.0] (0.01)0.05
FW_T_THR_INTEG (FLOAT)Integrator gain throttle

Comment: Integrator gain on the throttle part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.

[0.0, 1.0] (0.005)0.02
FW_T_VERT_ACC (FLOAT)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.

[1.0, 10.0] (0.5)7.0m/s^2
FW_WIND_ARSP_SC (FLOAT)Wind-based airspeed scaling factor

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

[0, ?] (0.01)0.

Failure Detector ​

名称参数描述[Min, Max] (Incr.)默认值单位
FD_ACT_EN (INT32)Enable Actuator Failure check

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

Reboot required: true

Enabled (1)
FD_ACT_MOT_C2T (FLOAT)Motor Failure Current/Throttle Threshold

Comment: Motor failure triggers only below this current value

[0.0, 50.0] (1)2.0A/%
FD_ACT_MOT_THR (FLOAT)Motor Failure Throttle Threshold

Comment: Motor failure triggers only above this throttle value.

[0.0, 1.0] (0.01)0.2norm
FD_ACT_MOT_TOUT (INT32)Motor Failure Time Threshold

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

[10, 10000] (100)100ms
FD_ESCS_EN (INT32)Enable checks on ESCs that report their arming state

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

Enabled (1)
FD_EXT_ATS_EN (INT32)Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)

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

Reboot required: true

Disabled (0)
FD_EXT_ATS_TRIG (INT32)The PWM threshold from external automatic trigger system for engaging failsafe

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

1900µs
FD_FAIL_P (INT32)FailureDetector Max Pitch

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

[0, 180] 60deg
FD_FAIL_P_TTRI (FLOAT)Pitch failure trigger time

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

[0.02, 5] 0.3s
FD_FAIL_R (INT32)FailureDetector Max Roll

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

[0, 180] 60deg
FD_FAIL_R_TTRI (FLOAT)Roll failure trigger time

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

[0.02, 5] 0.3s
FD_IMB_PROP_THR (INT32)Imbalanced propeller check threshold

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

[0, 1000] (1)30

FlightTaskOrbit ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_ORBIT_RAD_MAX (FLOAT)Maximum radius of orbit [1.0, 10000.0] (0.5)1000.0m

Follow target ​

名称参数描述[Min, Max] (Incr.)默认值单位
FLW_TGT_ALT_M (INT32)Altitude control mode

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

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

Comment: The distance in meters to follow the target at

[1.0, ?] 8.0m
FLW_TGT_FA (FLOAT)Follow Angle setting in degrees

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

[-180.0, 180.0] 180.0
FLW_TGT_HT (FLOAT)Follow target height

Comment: Following height above the target

[8.0, ?] 8.0m
FLW_TGT_MAX_VEL (FLOAT)Maximum tangential velocity setting for generating the follow orbit trajectory

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

[0.0, 20.0] 5.0
FLW_TGT_RS (FLOAT)Responsiveness to target movement in Target Estimator

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

[0.0, 1.0] 0.1

GPS ​

名称参数描述[Min, Max] (Incr.)默认值单位
GPS_1_CONFIG (INT32)Serial Configuration for Main GPS

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

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

Reboot required: true

201
GPS_1_GNSS (INT32)GNSS Systems for Primary GPS (integer bitmask)

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

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

Reboot required: true

[0, 63] 0
GPS_1_PROTOCOL (INT32)Protocol for Main GPS

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

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

Reboot required: true

[0, 7] 1
GPS_2_CONFIG (INT32)Serial Configuration for Secondary GPS

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

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

Reboot required: true

0
GPS_2_GNSS (INT32)GNSS Systems for Secondary GPS (integer bitmask)

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

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

Reboot required: true

[0, 63] 0
GPS_2_PROTOCOL (INT32)Protocol for Secondary GPS

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

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

Reboot required: true

[0, 6] 1
GPS_DUMP_COMM (INT32)Log GPS communication data

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. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.

参数对照:
  • 0: Disable
  • 1: Full communication
  • 2: RTCM output (PPK)
[0, 2] 0
GPS_SAT_INFO (INT32)Enable sat info (if available)

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

Reboot required: true

Disabled (0)
GPS_UBX_BAUD2 (INT32)u-blox F9P UART2 Baudrate

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

Reboot required: true

[0, ?] 230400B/s
GPS_UBX_CFG_INTF (INT32)u-blox protocol configuration for interfaces Bitmask:
  • 0: Enable I2C input protocol UBX
  • 1: Enable I2C input protocol NMEA
  • 2: Enable I2C input protocol RTCM3X
  • 3: Enable I2C output protocol UBX
  • 4: Enable I2C output protocol NMEA
  • 5: Enable I2C output protocol RTCM3X

Reboot required: true

[0, 32] 0
GPS_UBX_DYNMODEL (INT32)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.

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

Reboot required: true

[0, 9] 7
GPS_UBX_MODE (INT32)u-blox GPS Mode

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

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

Reboot required: true

[0, 1] 0
GPS_YAW_OFFSET (FLOAT)Heading/Yaw offset for dual antenna GPS

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

Reboot required: true

[0, 360] 0.deg
PPS_CAP_ENABLE (INT32)PPS Capture Enable

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

Reboot required: true

Disabled (0)

Geofence ​

名称参数描述[Min, Max] (Incr.)默认值单位
GF_ACTION (INT32)Geofence violation action

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

参数对照:
  • 0: None
  • 1: Warning
  • 2: Hold mode
  • 3: Return mode
  • 4: Terminate
  • 5: Land mode
[0, 5] 2
GF_MAX_HOR_DIST (FLOAT)Max horizontal distance from Home

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

[0, 10000] (1)0.0m
GF_MAX_VER_DIST (FLOAT)Max vertical distance from Home

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

[0, 10000] (1)0.0m
GF_PREDICT (INT32)[EXPERIMENTAL] Use Pre-emptive geofence triggering

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

Disabled (0)
GF_SOURCE (INT32)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

参数对照:
  • 0: GPOS
  • 1: GPS
[0, 1] 0

Geometry ​

名称参数描述[Min, Max] (Incr.)默认值单位
CA_AIRFRAME (INT32)Airframe selection

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

Values:
  • 0: Multirotor
  • 1: Fixed-wing
  • 2: Standard VTOL
  • 3: Tiltrotor VTOL
  • 4: Tailsitter VTOL
  • 5: Rover (Ackermann)
  • 6: Rover (Differential)
  • 7: Motors (6DOF)
  • 8: Multirotor with Tilt
  • 9: Custom
  • 10: Helicopter (tail ESC)
  • 11: Helicopter (tail Servo)
  • 12: Helicopter (Coaxial)
0
CA_FAILURE_MODE (INT32)Motor failure handling mode

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

参数对照:
  • 0: Ignore
  • 1: Remove first failed motor from effectiveness
0
CA_HELI_PITCH_C0 (FLOAT)Collective pitch curve at position 0

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

[-1, 1] (0.1)-0.05
CA_HELI_PITCH_C1 (FLOAT)Collective pitch curve at position 1

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

[-1, 1] (0.1)0.0725
CA_HELI_PITCH_C2 (FLOAT)Collective pitch curve at position 2

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

[-1, 1] (0.1)0.2
CA_HELI_PITCH_C3 (FLOAT)Collective pitch curve at position 3

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

[-1, 1] (0.1)0.325
CA_HELI_PITCH_C4 (FLOAT)Collective pitch curve at position 4

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

[-1, 1] (0.1)0.45
CA_HELI_THR_C0 (FLOAT)Throttle curve at position 0

Comment: Defines the output throttle at the interval position 0.

[0, 1] (0.1)1
CA_HELI_THR_C1 (FLOAT)Throttle curve at position 1

Comment: Defines the output throttle at the interval position 1.

[0, 1] (0.1)1
CA_HELI_THR_C2 (FLOAT)Throttle curve at position 2

Comment: Defines the output throttle at the interval position 2.

[0, 1] (0.1)1
CA_HELI_THR_C3 (FLOAT)Throttle curve at position 3

Comment: Defines the output throttle at the interval position 3.

[0, 1] (0.1)1
CA_HELI_THR_C4 (FLOAT)Throttle curve at position 4

Comment: Defines the output throttle at the interval position 4.

[0, 1] (0.1)1
CA_HELI_YAW_CCW (INT32)Main rotor turns counter-clockwise

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

Disabled (0)
CA_HELI_YAW_CP_O (FLOAT)Offset for yaw compensation based on collective pitch

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

[-2, 2] (0.1)0.0
CA_HELI_YAW_CP_S (FLOAT)Scale for yaw compensation based on collective pitch

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

[-2, 2] (0.1)0.0
CA_HELI_YAW_TH_S (FLOAT)Scale for yaw compensation based on throttle

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

[-2, 2] (0.1)0.0
CA_METHOD (INT32)Control allocation method

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

参数对照:
  • 0: Pseudo-inverse with output clipping
  • 1: Pseudo-inverse with sequential desaturation technique
  • 2: Automatic
2
CA_R0_SLEW (FLOAT)Motor 0 slew rate limit

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

[0, 10] (0.01)0.0
CA_R10_SLEW (FLOAT)Motor 10 slew rate limit

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

[0, 10] (0.01)0.0
CA_R11_SLEW (FLOAT)Motor 11 slew rate limit

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

[0, 10] (0.01)0.0
CA_R1_SLEW (FLOAT)Motor 1 slew rate limit

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

[0, 10] (0.01)0.0
CA_R2_SLEW (FLOAT)Motor 2 slew rate limit

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

[0, 10] (0.01)0.0
CA_R3_SLEW (FLOAT)Motor 3 slew rate limit

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

[0, 10] (0.01)0.0
CA_R4_SLEW (FLOAT)Motor 4 slew rate limit

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

[0, 10] (0.01)0.0
CA_R5_SLEW (FLOAT)Motor 5 slew rate limit

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

[0, 10] (0.01)0.0
CA_R6_SLEW (FLOAT)Motor 6 slew rate limit

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

[0, 10] (0.01)0.0
CA_R7_SLEW (FLOAT)Motor 7 slew rate limit

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

[0, 10] (0.01)0.0
CA_R8_SLEW (FLOAT)Motor 8 slew rate limit

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

[0, 10] (0.01)0.0
CA_R9_SLEW (FLOAT)Motor 9 slew rate limit

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

[0, 10] (0.01)0.0
CA_ROTOR0_AX (FLOAT)Axis of rotor 0 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR0_AY (FLOAT)Axis of rotor 0 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR0_AZ (FLOAT)Axis of rotor 0 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR0_CT (FLOAT)Thrust coefficient of rotor 0

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

[0, 100] (1)6.5
CA_ROTOR0_KM (FLOAT)Moment coefficient of rotor 0

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

[-1, 1] (0.01)0.05
CA_ROTOR0_PX (FLOAT)Position of rotor 0 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR0_PY (FLOAT)Position of rotor 0 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR0_PZ (FLOAT)Position of rotor 0 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR0_TILT (INT32)Rotor 0 tilt assignment

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

参数对照:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR10_AX (FLOAT)Axis of rotor 10 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR10_AY (FLOAT)Axis of rotor 10 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR10_AZ (FLOAT)Axis of rotor 10 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR10_CT (FLOAT)Thrust coefficient of rotor 10

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

[0, 100] (1)6.5
CA_ROTOR10_KM (FLOAT)Moment coefficient of rotor 10

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

[-1, 1] (0.01)0.05
CA_ROTOR10_PX (FLOAT)Position of rotor 10 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR10_PY (FLOAT)Position of rotor 10 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR10_PZ (FLOAT)Position of rotor 10 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR10_TILT (INT32)Rotor 10 tilt assignment

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

参数对照:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR11_AX (FLOAT)Axis of rotor 11 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR11_AY (FLOAT)Axis of rotor 11 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR11_AZ (FLOAT)Axis of rotor 11 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR11_CT (FLOAT)Thrust coefficient of rotor 11

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

[0, 100] (1)6.5
CA_ROTOR11_KM (FLOAT)Moment coefficient of rotor 11

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

[-1, 1] (0.01)0.05
CA_ROTOR11_PX (FLOAT)Position of rotor 11 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR11_PY (FLOAT)Position of rotor 11 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR11_PZ (FLOAT)Position of rotor 11 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR11_TILT (INT32)Rotor 11 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR1_AX (FLOAT)Axis of rotor 1 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR1_AY (FLOAT)Axis of rotor 1 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR1_AZ (FLOAT)Axis of rotor 1 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR1_CT (FLOAT)Thrust coefficient of rotor 1

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

[0, 100] (1)6.5
CA_ROTOR1_KM (FLOAT)Moment coefficient of rotor 1

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

[-1, 1] (0.01)0.05
CA_ROTOR1_PX (FLOAT)Position of rotor 1 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR1_PY (FLOAT)Position of rotor 1 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR1_PZ (FLOAT)Position of rotor 1 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR1_TILT (INT32)Rotor 1 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR2_AX (FLOAT)Axis of rotor 2 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR2_AY (FLOAT)Axis of rotor 2 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR2_AZ (FLOAT)Axis of rotor 2 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR2_CT (FLOAT)Thrust coefficient of rotor 2

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

[0, 100] (1)6.5
CA_ROTOR2_KM (FLOAT)Moment coefficient of rotor 2

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

[-1, 1] (0.01)0.05
CA_ROTOR2_PX (FLOAT)Position of rotor 2 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR2_PY (FLOAT)Position of rotor 2 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR2_PZ (FLOAT)Position of rotor 2 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR2_TILT (INT32)Rotor 2 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR3_AX (FLOAT)Axis of rotor 3 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR3_AY (FLOAT)Axis of rotor 3 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR3_AZ (FLOAT)Axis of rotor 3 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR3_CT (FLOAT)Thrust coefficient of rotor 3

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

[0, 100] (1)6.5
CA_ROTOR3_KM (FLOAT)Moment coefficient of rotor 3

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

[-1, 1] (0.01)0.05
CA_ROTOR3_PX (FLOAT)Position of rotor 3 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR3_PY (FLOAT)Position of rotor 3 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR3_PZ (FLOAT)Position of rotor 3 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR3_TILT (INT32)Rotor 3 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR4_AX (FLOAT)Axis of rotor 4 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR4_AY (FLOAT)Axis of rotor 4 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR4_AZ (FLOAT)Axis of rotor 4 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR4_CT (FLOAT)Thrust coefficient of rotor 4

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

[0, 100] (1)6.5
CA_ROTOR4_KM (FLOAT)Moment coefficient of rotor 4

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

[-1, 1] (0.01)0.05
CA_ROTOR4_PX (FLOAT)Position of rotor 4 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR4_PY (FLOAT)Position of rotor 4 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR4_PZ (FLOAT)Position of rotor 4 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR4_TILT (INT32)Rotor 4 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR5_AX (FLOAT)Axis of rotor 5 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR5_AY (FLOAT)Axis of rotor 5 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR5_AZ (FLOAT)Axis of rotor 5 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR5_CT (FLOAT)Thrust coefficient of rotor 5

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

[0, 100] (1)6.5
CA_ROTOR5_KM (FLOAT)Moment coefficient of rotor 5

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

[-1, 1] (0.01)0.05
CA_ROTOR5_PX (FLOAT)Position of rotor 5 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR5_PY (FLOAT)Position of rotor 5 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR5_PZ (FLOAT)Position of rotor 5 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR5_TILT (INT32)Rotor 5 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR6_AX (FLOAT)Axis of rotor 6 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR6_AY (FLOAT)Axis of rotor 6 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR6_AZ (FLOAT)Axis of rotor 6 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR6_CT (FLOAT)Thrust coefficient of rotor 6

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

[0, 100] (1)6.5
CA_ROTOR6_KM (FLOAT)Moment coefficient of rotor 6

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

[-1, 1] (0.01)0.05
CA_ROTOR6_PX (FLOAT)Position of rotor 6 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR6_PY (FLOAT)Position of rotor 6 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR6_PZ (FLOAT)Position of rotor 6 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR6_TILT (INT32)Rotor 6 tilt assignment

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

参数对照:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR7_AX (FLOAT)Axis of rotor 7 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR7_AY (FLOAT)Axis of rotor 7 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR7_AZ (FLOAT)Axis of rotor 7 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR7_CT (FLOAT)Thrust coefficient of rotor 7

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

[0, 100] (1)6.5
CA_ROTOR7_KM (FLOAT)Moment coefficient of rotor 7

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

[-1, 1] (0.01)0.05
CA_ROTOR7_PX (FLOAT)Position of rotor 7 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR7_PY (FLOAT)Position of rotor 7 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR7_PZ (FLOAT)Position of rotor 7 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR7_TILT (INT32)Rotor 7 tilt assignment

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

Values:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR8_AX (FLOAT)Axis of rotor 8 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR8_AY (FLOAT)Axis of rotor 8 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR8_AZ (FLOAT)Axis of rotor 8 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR8_CT (FLOAT)Thrust coefficient of rotor 8

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

[0, 100] (1)6.5
CA_ROTOR8_KM (FLOAT)Moment coefficient of rotor 8

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

[-1, 1] (0.01)0.05
CA_ROTOR8_PX (FLOAT)Position of rotor 8 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR8_PY (FLOAT)Position of rotor 8 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR8_PZ (FLOAT)Position of rotor 8 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR8_TILT (INT32)Rotor 8 tilt assignment

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

参数对照:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR9_AX (FLOAT)Axis of rotor 9 thrust vector, X body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR9_AY (FLOAT)Axis of rotor 9 thrust vector, Y body axis component

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

[-100, 100] (0.1)0.0
CA_ROTOR9_AZ (FLOAT)Axis of rotor 9 thrust vector, Z body axis component

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

[-100, 100] (0.1)-1.0
CA_ROTOR9_CT (FLOAT)Thrust coefficient of rotor 9

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

[0, 100] (1)6.5
CA_ROTOR9_KM (FLOAT)Moment coefficient of rotor 9

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

[-1, 1] (0.01)0.05
CA_ROTOR9_PX (FLOAT)Position of rotor 9 along X body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR9_PY (FLOAT)Position of rotor 9 along Y body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR9_PZ (FLOAT)Position of rotor 9 along Z body axis relative to center of gravity [-100, 100] (0.1)0.0m
CA_ROTOR9_TILT (INT32)Rotor 9 tilt assignment

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

参数对照:
  • 0: None
  • 1: Tilt 1
  • 2: Tilt 2
  • 3: Tilt 3
  • 4: Tilt 4
0
CA_ROTOR_COUNT (INT32)Total number of rotors Values:
  • 0: 0
  • 1: 1
  • 2: 2
  • 3: 3
  • 4: 4
  • 5: 5
  • 6: 6
  • 7: 7
  • 8: 8
  • 9: 9
  • 10: 10
  • 11: 11
  • 12: 12
0
CA_R_REV (INT32)Bidirectional/Reversible motors

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

Bitmask:
  • 0: Motor 1
  • 1: Motor 2
  • 2: Motor 3
  • 3: Motor 4
  • 4: Motor 5
  • 5: Motor 6
  • 6: Motor 7
  • 7: Motor 8
  • 8: Motor 9
  • 9: Motor 10
  • 10: Motor 11
  • 11: Motor 12
[0, 4095] 0
CA_SP0_ANG0 (FLOAT)Angle for swash plate servo 0

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

[0, 360] (10)0deg
CA_SP0_ANG1 (FLOAT)Angle for swash plate servo 1

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

[0, 360] (10)140deg
CA_SP0_ANG2 (FLOAT)Angle for swash plate servo 2

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

[0, 360] (10)220deg
CA_SP0_ANG3 (FLOAT)Angle for swash plate servo 3

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

[0, 360] (10)0deg
CA_SP0_ARM_L0 (FLOAT)Arm length for swash plate servo 0

Comment: This is relative to the other arm lengths.

[0, 10] (0.1)1.0
CA_SP0_ARM_L1 (FLOAT)Arm length for swash plate servo 1

Comment: This is relative to the other arm lengths.

[0, 10] (0.1)1.0
CA_SP0_ARM_L2 (FLOAT)Arm length for swash plate servo 2

Comment: This is relative to the other arm lengths.

[0, 10] (0.1)1.0
CA_SP0_ARM_L3 (FLOAT)Arm length for swash plate servo 3

Comment: This is relative to the other arm lengths.

[0, 10] (0.1)1.0
CA_SP0_COUNT (INT32)Number of swash plates servos Values:
  • 2: 2
  • 3: 3
  • 4: 4
3
CA_SV0_SLEW (FLOAT)Servo 0 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV1_SLEW (FLOAT)Servo 1 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV2_SLEW (FLOAT)Servo 2 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV3_SLEW (FLOAT)Servo 3 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV4_SLEW (FLOAT)Servo 4 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV5_SLEW (FLOAT)Servo 5 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV6_SLEW (FLOAT)Servo 6 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV7_SLEW (FLOAT)Servo 7 slew rate limit

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

[0, 10] (0.05)0.0
CA_SV_CS0_FLAP (FLOAT)Control Surface 0 configuration as flap [-1.0, 1.0] 0
CA_SV_CS0_SPOIL (FLOAT)Control Surface 0 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS0_TRIM (FLOAT)Control Surface 0 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS0_TRQ_P (FLOAT)Control Surface 0 pitch torque scaling 0.0
CA_SV_CS0_TRQ_R (FLOAT)Control Surface 0 roll torque scaling 0.0
CA_SV_CS0_TRQ_Y (FLOAT)Control Surface 0 yaw torque scaling 0.0
CA_SV_CS0_TYPE (INT32)Control Surface 0 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS1_FLAP (FLOAT)Control Surface 1 configuration as flap [-1.0, 1.0] 0
CA_SV_CS1_SPOIL (FLOAT)Control Surface 1 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS1_TRIM (FLOAT)Control Surface 1 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS1_TRQ_P (FLOAT)Control Surface 1 pitch torque scaling 0.0
CA_SV_CS1_TRQ_R (FLOAT)Control Surface 1 roll torque scaling 0.0
CA_SV_CS1_TRQ_Y (FLOAT)Control Surface 1 yaw torque scaling 0.0
CA_SV_CS1_TYPE (INT32)Control Surface 1 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS2_FLAP (FLOAT)Control Surface 2 configuration as flap [-1.0, 1.0] 0
CA_SV_CS2_SPOIL (FLOAT)Control Surface 2 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS2_TRIM (FLOAT)Control Surface 2 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS2_TRQ_P (FLOAT)Control Surface 2 pitch torque scaling 0.0
CA_SV_CS2_TRQ_R (FLOAT)Control Surface 2 roll torque scaling 0.0
CA_SV_CS2_TRQ_Y (FLOAT)Control Surface 2 yaw torque scaling 0.0
CA_SV_CS2_TYPE (INT32)Control Surface 2 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS3_FLAP (FLOAT)Control Surface 3 configuration as flap [-1.0, 1.0] 0
CA_SV_CS3_SPOIL (FLOAT)Control Surface 3 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS3_TRIM (FLOAT)Control Surface 3 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS3_TRQ_P (FLOAT)Control Surface 3 pitch torque scaling 0.0
CA_SV_CS3_TRQ_R (FLOAT)Control Surface 3 roll torque scaling 0.0
CA_SV_CS3_TRQ_Y (FLOAT)Control Surface 3 yaw torque scaling 0.0
CA_SV_CS3_TYPE (INT32)Control Surface 3 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS4_FLAP (FLOAT)Control Surface 4 configuration as flap [-1.0, 1.0] 0
CA_SV_CS4_SPOIL (FLOAT)Control Surface 4 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS4_TRIM (FLOAT)Control Surface 4 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS4_TRQ_P (FLOAT)Control Surface 4 pitch torque scaling 0.0
CA_SV_CS4_TRQ_R (FLOAT)Control Surface 4 roll torque scaling 0.0
CA_SV_CS4_TRQ_Y (FLOAT)Control Surface 4 yaw torque scaling 0.0
CA_SV_CS4_TYPE (INT32)Control Surface 4 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS5_FLAP (FLOAT)Control Surface 5 configuration as flap [-1.0, 1.0] 0
CA_SV_CS5_SPOIL (FLOAT)Control Surface 5 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS5_TRIM (FLOAT)Control Surface 5 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS5_TRQ_P (FLOAT)Control Surface 5 pitch torque scaling 0.0
CA_SV_CS5_TRQ_R (FLOAT)Control Surface 5 roll torque scaling 0.0
CA_SV_CS5_TRQ_Y (FLOAT)Control Surface 5 yaw torque scaling 0.0
CA_SV_CS5_TYPE (INT32)Control Surface 5 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS6_FLAP (FLOAT)Control Surface 6 configuration as flap [-1.0, 1.0] 0
CA_SV_CS6_SPOIL (FLOAT)Control Surface 6 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS6_TRIM (FLOAT)Control Surface 6 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS6_TRQ_P (FLOAT)Control Surface 6 pitch torque scaling 0.0
CA_SV_CS6_TRQ_R (FLOAT)Control Surface 6 roll torque scaling 0.0
CA_SV_CS6_TRQ_Y (FLOAT)Control Surface 6 yaw torque scaling 0.0
CA_SV_CS6_TYPE (INT32)Control Surface 6 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS7_FLAP (FLOAT)Control Surface 7 configuration as flap [-1.0, 1.0] 0
CA_SV_CS7_SPOIL (FLOAT)Control Surface 7 configuration as spoiler [-1.0, 1.0] 0
CA_SV_CS7_TRIM (FLOAT)Control Surface 7 trim

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

[-1.0, 1.0] 0.0
CA_SV_CS7_TRQ_P (FLOAT)Control Surface 7 pitch torque scaling 0.0
CA_SV_CS7_TRQ_R (FLOAT)Control Surface 7 roll torque scaling 0.0
CA_SV_CS7_TRQ_Y (FLOAT)Control Surface 7 yaw torque scaling 0.0
CA_SV_CS7_TYPE (INT32)Control Surface 7 type Values:
  • 0: (Not set)
  • 1: Left Aileron
  • 2: Right Aileron
  • 3: Elevator
  • 4: Rudder
  • 5: Left Elevon
  • 6: Right Elevon
  • 7: Left V-Tail
  • 8: Right V-Tail
  • 9: Left Flap
  • 10: Right Flap
  • 11: Airbrake
  • 12: Custom
  • 13: Left A-tail
  • 14: Right A-tail
  • 15: Single Channel Aileron
  • 16: Steering Wheel
  • 17: Left Spoiler
  • 18: Right Spoiler
0
CA_SV_CS_COUNT (INT32)Total number of Control Surfaces Values:
  • 0: 0
  • 1: 1
  • 2: 2
  • 3: 3
  • 4: 4
  • 5: 5
  • 6: 6
  • 7: 7
  • 8: 8
0
CA_SV_TL0_CT (INT32)Tilt 0 is used for control

Comment: Define if this servo is used for additional control.

Values:
  • 0: None
  • 1: Yaw
  • 2: Pitch
  • 3: Yaw and Pitch
1
CA_SV_TL0_MAXA (FLOAT)Tilt Servo 0 Tilt Angle at Maximum

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

[-90.0, 90.0] 90.0deg
CA_SV_TL0_MINA (FLOAT)Tilt Servo 0 Tilt Angle at Minimum

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

[-90.0, 90.0] 0.0deg
CA_SV_TL0_TD (INT32)Tilt Servo 0 Tilt Direction

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

Values:
  • 0: Towards Front
  • 90: Towards Right
[0, 359] 0
CA_SV_TL1_CT (INT32)Tilt 1 is used for control

Comment: Define if this servo is used for additional control.

Values:
  • 0: None
  • 1: Yaw
  • 2: Pitch
  • 3: Yaw and Pitch
1
CA_SV_TL1_MAXA (FLOAT)Tilt Servo 1 Tilt Angle at Maximum

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

[-90.0, 90.0] 90.0deg
CA_SV_TL1_MINA (FLOAT)Tilt Servo 1 Tilt Angle at Minimum

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

[-90.0, 90.0] 0.0deg
CA_SV_TL1_TD (INT32)Tilt Servo 1 Tilt Direction

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

Values:
  • 0: Towards Front
  • 90: Towards Right
[0, 359] 0
CA_SV_TL2_CT (INT32)Tilt 2 is used for control

Comment: Define if this servo is used for additional control.

Values:
  • 0: None
  • 1: Yaw
  • 2: Pitch
  • 3: Yaw and Pitch
1
CA_SV_TL2_MAXA (FLOAT)Tilt Servo 2 Tilt Angle at Maximum

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

[-90.0, 90.0] 90.0deg
CA_SV_TL2_MINA (FLOAT)Tilt Servo 2 Tilt Angle at Minimum

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

[-90.0, 90.0] 0.0deg
CA_SV_TL2_TD (INT32)Tilt Servo 2 Tilt Direction

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

Values:
  • 0: Towards Front
  • 90: Towards Right
[0, 359] 0
CA_SV_TL3_CT (INT32)Tilt 3 is used for control

Comment: Define if this servo is used for additional control.

Values:
  • 0: None
  • 1: Yaw
  • 2: Pitch
  • 3: Yaw and Pitch
1
CA_SV_TL3_MAXA (FLOAT)Tilt Servo 3 Tilt Angle at Maximum

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

[-90.0, 90.0] 90.0deg
CA_SV_TL3_MINA (FLOAT)Tilt Servo 3 Tilt Angle at Minimum

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

[-90.0, 90.0] 0.0deg
CA_SV_TL3_TD (INT32)Tilt Servo 3 Tilt Direction

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

Values:
  • 0: Towards Front
  • 90: Towards Right
[0, 359] 0
CA_SV_TL_COUNT (INT32)Total number of Tilt Servos Values:
  • 0: 0
  • 1: 1
  • 2: 2
  • 3: 3
  • 4: 4
0

Hover Thrust Estimator ​

名称参数描述[Min, Max] (Incr.)默认值单位
HTE_ACC_GATE (FLOAT)Gate size for acceleration fusion

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

[1.0, 10.0] 3.0SD
HTE_HT_ERR_INIT (FLOAT)1-sigma initial hover thrust uncertainty

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

[0.0, 1.0] 0.1normalized_thrust
HTE_HT_NOISE (FLOAT)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.

[0.0001, 1.0] 0.0036normalized_thrust/s
HTE_THR_RANGE (FLOAT)Max deviation from MPC_THR_HOVER

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

[0.01, 0.4] 0.2normalized_thrust
HTE_VXY_THR (FLOAT)Horizontal velocity threshold for sensitivity reduction

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

[1.0, 20.0] 10.0m/s
HTE_VZ_THR (FLOAT)Vertical velocity threshold for sensitivity reduction

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

[1.0, 10.0] 2.0m/s

Iridium SBD ​

名称参数描述[Min, Max] (Incr.)默认值单位
ISBD_CONFIG (INT32)Serial Configuration for Iridium (with MAVLink)

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

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

Reboot required: true

0
ISBD_READ_INT (INT32)Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call [0, 5000] 0s
ISBD_SBD_TIMEOUT (INT32)Iridium SBD session timeout [0, 300] 60s
ISBD_STACK_TIME (INT32)Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message

Comment: Value 0 turns the functionality off

[0, 500] 0ms

Land Detector ​

名称参数描述[Min, Max] (Incr.)默认值单位
LNDFW_AIRSPD_MAX (FLOAT)Fixed-wing land detector: Max airspeed

Comment: Maximum airspeed allowed in the landed state

[2, 20] 6.00m/s
LNDFW_TRIG_TIME (FLOAT)Fixed-wing land detection trigger time

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

Reboot required: true

[0.1, ?] 2.s
LNDFW_VEL_XY_MAX (FLOAT)Fixed-wing land detector: Max horizontal velocity threshold

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

[0.5, 10] 5.0m/s
LNDFW_VEL_Z_MAX (FLOAT)Fixed-wing land detector: Max vertiacal velocity threshold

Comment: Maximum vertical velocity allowed in the landed state.

[0.1, 20] 1.0m/s
LNDFW_XYACC_MAX (FLOAT)Fixed-wing land detector: Max horizontal acceleration

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

[2, 15] 8.0m/s^2
LNDMC_ALT_GND (FLOAT)Ground effect altitude for multicopters

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

[-1, ?] 2.m
LNDMC_ROT_MAX (FLOAT)Multicopter max rotation

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

20.0deg/s
LNDMC_TRIG_TIME (FLOAT)Multicopter land detection trigger time

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

[0.1, 10.0] 1.0s
LNDMC_XY_VEL_MAX (FLOAT)Multicopter max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state

1.5m/s
LNDMC_Z_VEL_MAX (FLOAT)Multicopter vertical velocity threshold

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

[0, ?] 0.25m/s
LND_FLIGHT_T_HI (INT32)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.

[0, ?] 0
LND_FLIGHT_T_LO (INT32)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.

[0, ?] 0

Landing Target Estimator ​

名称参数描述[Min, Max] (Incr.)默认值单位
LTEST_ACC_UNC (FLOAT)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

[0.01, ?] 10.0(m/s^2)^2
LTEST_MEAS_UNC (FLOAT)Landing target measurement uncertainty

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

0.005tan(rad)^2
LTEST_MODE (INT32)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.

Values:
  • 0: Moving
  • 1: Stationary
[0, 1] 0
LTEST_POS_UNC_IN (FLOAT)Initial landing target position uncertainty

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

[0.001, ?] 0.1m^2
LTEST_SCALE_X (FLOAT)Scale factor for sensor measurements in sensor x axis

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

[0.01, ?] 1.0
LTEST_SCALE_Y (FLOAT)Scale factor for sensor measurements in sensor y axis

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

[0.01, ?] 1.0
LTEST_SENS_POS_X (FLOAT)X Position of IRLOCK in body frame (forward)

Reboot required: true

0.0m
LTEST_SENS_POS_Y (FLOAT)Y Position of IRLOCK in body frame (right)

Reboot required: true

0.0m
LTEST_SENS_POS_Z (FLOAT)Z Position of IRLOCK in body frame (downward)

Reboot required: true

0.0m
LTEST_SENS_ROT (INT32)Rotation of IRLOCK sensor relative to airframe

Comment: Default orientation of Yaw 90°

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

Reboot required: true

[-1, 40] 2
LTEST_VEL_UNC_IN (FLOAT)Initial landing target velocity uncertainty

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

[0.001, ?] 0.1(m/s)^2

Local Position Estimator ​

名称参数描述[Min, Max] (Incr.)默认值单位
LPE_ACC_XY (FLOAT)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.

[0.00001, 2] 0.012m/s^2/sqrt(Hz)
LPE_ACC_Z (FLOAT)Accelerometer z noise density

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

[0.00001, 2] 0.02m/s^2/sqrt(Hz)
LPE_BAR_Z (FLOAT)Barometric presssure altitude z standard deviation [0.01, 100] 3.0m
LPE_EN (INT32)Local position estimator enable (unsupported) Disabled (0)
LPE_EPH_MAX (FLOAT)Max EPH allowed for GPS initialization [1.0, 5.0] 3.0m
LPE_EPV_MAX (FLOAT)Max EPV allowed for GPS initialization [1.0, 5.0] 5.0m
LPE_FAKE_ORIGIN (INT32)Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)

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

[0, 1] 0
LPE_FGYRO_HP (FLOAT)Flow gyro high pass filter cut off frequency [0, 2] 0.001Hz
LPE_FLW_OFF_Z (FLOAT)Optical flow z offset from center [-1, 1] 0.0m
LPE_FLW_QMIN (INT32)Optical flow minimum quality threshold [0, 255] 150
LPE_FLW_R (FLOAT)Optical flow rotation (roll/pitch) noise gain [0.1, 10.0] 7.0m/s/rad
LPE_FLW_RR (FLOAT)Optical flow angular velocity noise gain [0.0, 10.0] 7.0m/rad
LPE_FLW_SCALE (FLOAT)Optical flow scale [0.1, 10.0] 1.3m
LPE_FUSION (INT32)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)

Bitmask:
  • 0: fuse GPS, requires GPS for alt. init
  • 1: fuse optical flow
  • 2: fuse vision position
  • 3: fuse landing target
  • 4: fuse land detector
  • 5: pub agl as lpos down
  • 6: flow gyro compensation
  • 7: fuse baro
[0, 255] 145
LPE_GPS_DELAY (FLOAT)GPS delay compensaton [0, 0.4] 0.29s
LPE_GPS_VXY (FLOAT)GPS xy velocity standard deviation

Comment: EPV used if greater than this value.

[0.01, 2] 0.25m/s
LPE_GPS_VZ (FLOAT)GPS z velocity standard deviation [0.01, 2] 0.25m/s
LPE_GPS_XY (FLOAT)Minimum GPS xy standard deviation, uses reported EPH if greater [0.01, 5] 1.0m
LPE_GPS_Z (FLOAT)Minimum GPS z standard deviation, uses reported EPV if greater [0.01, 200] 3.0m
LPE_LAND_VXY (FLOAT)Land detector xy velocity standard deviation [0.01, 10.0] 0.05m/s
LPE_LAND_Z (FLOAT)Land detector z standard deviation [0.001, 10.0] 0.03m
LPE_LAT (FLOAT)Local origin latitude for nav w/o GPS [-90, 90] 47.397742deg
LPE_LDR_OFF_Z (FLOAT)Lidar z offset from center of vehicle +down [-1, 1] 0.00m
LPE_LDR_Z (FLOAT)Lidar z standard deviation [0.01, 1] 0.03m
LPE_LON (FLOAT)Local origin longitude for nav w/o GPS [-180, 180] 8.545594deg
LPE_LT_COV (FLOAT)Minimum landing target standard covariance, uses reported covariance if greater [0.0, 10] 0.0001m^2
LPE_PN_B (FLOAT)Accel bias propagation noise density [0, 1] 1e-3m/s^3/sqrt(Hz)
LPE_PN_P (FLOAT)Position propagation noise density

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

[0, 1] 0.1m/s/sqrt(Hz)
LPE_PN_T (FLOAT)Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) [0, 1] 0.001m/s/sqrt(Hz)
LPE_PN_V (FLOAT)Velocity propagation noise density

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

[0, 1] 0.1m/s^2/sqrt(Hz)
LPE_SNR_OFF_Z (FLOAT)Sonar z offset from center of vehicle +down [-1, 1] 0.00m
LPE_SNR_Z (FLOAT)Sonar z standard deviation [0.01, 1] 0.05m
LPE_T_MAX_GRADE (FLOAT)Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)

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

[0, 100] 1.0%
LPE_VIC_P (FLOAT)Vicon position standard deviation [0.0001, 1] 0.001m
LPE_VIS_DELAY (FLOAT)Vision delay compensation

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

[0, 0.1] 0.1s
LPE_VIS_XY (FLOAT)Vision xy standard deviation [0.01, 1] 0.1m
LPE_VIS_Z (FLOAT)Vision z standard deviation [0.01, 100] 0.5m
LPE_VXY_PUB (FLOAT)Required velocity xy standard deviation to publish position [0.01, 1.0] 0.3m/s
LPE_X_LP (FLOAT)Cut frequency for state publication [5, 1000] 5.0Hz
LPE_Z_PUB (FLOAT)Required z standard deviation to publish altitude/ terrain [0.3, 5.0] 1.0m
NameDescription[Min, Max] (Incr.)DefaultUnits
MAV_0_BROADCAST (INT32)Broadcast heartbeats on local network for MAVLink instance 0

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

参数对照:
  • 0: Never broadcast
  • 1: Always broadcast
  • 2: Only multicast
1
MAV_0_CONFIG (INT32)Serial Configuration for MAVLink (instance 0)

Comment: Configure on which serial port to run MAVLink.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2
  • 1000: Ethernet

Reboot required: true

101
MAV_0_FLOW_CTRL (INT32)Enable serial flow control for instance 0

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

参数对照:
  • 0: Force off
  • 1: Force on
  • 2: Auto-detected

Reboot required: True

2
MAV_0_FORWARD (INT32)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

Enabled (1)
MAV_0_HL_FREQ (FLOAT)Configures the frequency of HIGH_LATENCY2 stream for instance 0

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

Reboot required: True

[0.0, 50.0] (0.001)0.015Hz
MAV_0_MODE (INT32)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.

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

Reboot required: True

0
MAV_0_RADIO_CTL (INT32)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

Enabled (1)
MAV_0_RATE (INT32)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

[0, ?] 1200B/s
MAV_0_REMOTE_PRT (INT32)MAVLink Remote Port for instance 0

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

Reboot required: True

14550
MAV_0_UDP_PRT (INT32)MAVLink Network Port for instance 0

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

Reboot required: True

14556
MAV_1_BROADCAST (INT32)Broadcast heartbeats on local network for MAVLink instance 1

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

Values:
  • 0: Never broadcast
  • 1: Always broadcast
  • 2: Only multicast
0
MAV_1_CONFIG (INT32)Serial Configuration for MAVLink (instance 1)

Comment: Configure on which serial port to run MAVLink.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2
  • 1000: Ethernet

Reboot required: true

0
MAV_1_FLOW_CTRL (INT32)Enable serial flow control for instance 1

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

参数对照:
  • 0: Force off
  • 1: Force on
  • 2: Auto-detected

Reboot required: True

2
MAV_1_FORWARD (INT32)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

Disabled (0)
MAV_1_HL_FREQ (FLOAT)Configures the frequency of HIGH_LATENCY2 stream for instance 1

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

Reboot required: True

[0.0, 50.0] (0.001)0.015Hz
MAV_1_MODE (INT32)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.

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

Reboot required: True

2
MAV_1_RADIO_CTL (INT32)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

Enabled (1)
MAV_1_RATE (INT32)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

[0, ?] 0B/s
MAV_1_REMOTE_PRT (INT32)MAVLink Remote Port for instance 1

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

Reboot required: True

0
MAV_1_UDP_PRT (INT32)MAVLink Network Port for instance 1

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

Reboot required: True

0
MAV_2_BROADCAST (INT32)Broadcast heartbeats on local network for MAVLink instance 2

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

参数对照:
  • 0: Never broadcast
  • 1: Always broadcast
  • 2: Only multicast
0
MAV_2_CONFIG (INT32)Serial Configuration for MAVLink (instance 2)

Comment: Configure on which serial port to run MAVLink.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2
  • 1000: Ethernet

Reboot required: true

0
MAV_2_FLOW_CTRL (INT32)Enable serial flow control for instance 2

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

参数对照:
  • 0: Force off
  • 1: Force on
  • 2: Auto-detected

Reboot required: True

2
MAV_2_FORWARD (INT32)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

Disabled (0)
MAV_2_HL_FREQ (FLOAT)Configures the frequency of HIGH_LATENCY2 stream for instance 2

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

Reboot required: True

[0.0, 50.0] (0.001)0.015Hz
MAV_2_MODE (INT32)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.

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

Reboot required: True

0
MAV_2_RADIO_CTL (INT32)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

Enabled (1)
MAV_2_RATE (INT32)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

[0, ?] 0B/s
MAV_2_REMOTE_PRT (INT32)MAVLink Remote Port for instance 2

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

Reboot required: True

0
MAV_2_UDP_PRT (INT32)MAVLink Network Port for instance 2

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

Reboot required: True

0
MAV_COMP_ID (INT32)MAVLink component ID

Reboot required: true

[1, 250] 1
MAV_FWDEXTSP (INT32)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

Enabled (1)
MAV_HASH_CHK_EN (INT32)Parameter hash check

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

Enabled (1)
MAV_HB_FORW_EN (INT32)Heartbeat message forwarding

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

Enabled (1)
MAV_PROTO_VER (INT32)MAVLink protocol version Values:
  • 0: Default to 1, switch to 2 if GCS sends version 2
  • 1: Always use version 1
  • 2: Always use version 2
0
MAV_RADIO_TOUT (INT32)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.

[1, 250] 5s
MAV_SIK_RADIO_ID (INT32)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

[-1, 240] 0
MAV_SYS_ID (INT32)MAVLink system ID

Reboot required: true

[1, 250] 1
MAV_TYPE (INT32)MAVLink airframe type Values:
  • 0: Generic micro air vehicle
  • 1: Fixed wing aircraft
  • 2: Quadrotor
  • 3: Coaxial helicopter
  • 4: Normal helicopter with tail rotor
  • 7: Airship, controlled
  • 8: Free balloon, uncontrolled
  • 10: Ground rover
  • 11: Surface vessel, boat, ship
  • 12: Submarine
  • 13: Hexarotor
  • 14: Octorotor
  • 15: Tricopter
  • 19: VTOL Two-rotor Tailsitter
  • 20: VTOL Quad-rotor Tailsitter
  • 21: VTOL Tiltrotor
  • 22: VTOL Standard (separate fixed rotors for hover and cruise flight)
  • 23: VTOL Tailsitter
[0, 22] 0
MAV_USEHILGPS (INT32)Use/Accept HIL GPS message even if not in HIL mode

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

Disabled (0)

Magnetometer Bias Estimator ​

名称参数描述[Min, Max] (Incr.)默认值单位
MBE_ENABLE (INT32)Enable online mag bias calibration

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

Reboot required: true

Enabled (1)
MBE_LEARN_GAIN (FLOAT)Mag bias estimator learning gain

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

[0.1, 100] (0.1)18.

Manual Control ​

NameDescription[Min, Max] (Incr.)DefaultUnits
MAN_ARM_GESTURE (INT32)Enable arm/disarm stick gesture

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

Enabled (1)
MAN_KILL_GEST_T (FLOAT)Trigger time for kill stick gesture

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

[-1, 15] -1.s

Mission ​

名称参数描述[Min, Max] (Incr.)默认值单位
FW_GPSF_LT (INT32)GPS failure loiter time

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

[0, 3600] 30s
FW_GPSF_R (FLOAT)GPS failure fixed roll angle

Comment: Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).

[0.0, 30.0] (0.5)15.0deg
MIS_DIST_1WP (FLOAT)Maximal horizontal distance from current position 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_DIST_1WP from the current position.

[-1, 10000] (100)10000m
MIS_LND_ABRT_ALT (INT32)Landing abort min altitude

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

[0, ?] 30m
MIS_MNT_YAW_CTL (INT32)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.

参数对照:
  • 0: Disable
  • 1: Enable
[0, 1] 0
MIS_PD_TO (FLOAT)Timeout for a successful payload deployment acknowledgement [0, ?] (1)5.0s
MIS_TAKEOFF_ALT (FLOAT)Default take-off altitude

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

[0, ?] (0.5)2.5m
MIS_TKO_LAND_REQ (INT32)Mission takeoff/landing required

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

参数对照:
  • 0: No requirements
  • 1: Require a takeoff
  • 2: Require a landing
  • 3: Require a takeoff and a landing
  • 4: Require both a takeoff and a landing, or neither
  • 5: Same as previous when landed, in-air require landing only if no valid VTOL approach is present
0
MIS_YAW_ERR (FLOAT)Max yaw error in degrees needed for waypoint heading acceptance [0, 90] (1)12.0deg
MIS_YAW_TMT (FLOAT)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.

[-1, 20] (1)-1.0s
MPC_YAW_MODE (INT32)Heading behavior in autonomous modes Values:
  • 0: towards waypoint
  • 1: towards home
  • 2: away from home
  • 3: along trajectory
  • 4: towards waypoint (yaw first)
  • 5: yaw fixed
[0, 4] 0
NAV_ACC_RAD (FLOAT)Acceptance Radius

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

[0.05, 200.0] (0.5)10.0m
NAV_FORCE_VT (INT32)Force VTOL mode takeoff and land Enabled (1)
NAV_FW_ALTL_RAD (FLOAT)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.

[0.05, 200.0] 5.0m
NAV_FW_ALT_RAD (FLOAT)FW Altitude Acceptance Radius

Comment: Acceptance radius for fixedwing altitude.

[0.05, 200.0] (0.5)10.0m
NAV_LOITER_RAD (FLOAT)Loiter radius (FW only)

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

[25, 1000] (0.5)80.0m
NAV_MC_ALT_RAD (FLOAT)MC Altitude Acceptance Radius

Comment: Acceptance radius for multicopter altitude.

[0.05, 200.0] (0.5)0.8m
NAV_MIN_LTR_ALT (FLOAT)Minimum Loiter altitude

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

[-1, ?] (0.5)-1.m
NAV_TRAFF_AVOID (INT32)Set traffic avoidance mode

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

参数对照:
  • 0: Disabled
  • 1: Warn only
  • 2: Return mode
  • 3: Land mode
  • 4: Position Hold mode
1
NAV_TRAFF_A_HOR (FLOAT)Set NAV TRAFFIC AVOID horizontal distance

Comment: Defines a crosstrack horizontal distance

[500, ?] 500m
NAV_TRAFF_A_VER (FLOAT)Set NAV TRAFFIC AVOID vertical distance [10, 500] 500m
NAV_TRAFF_COLL_T (INT32)Estimated time until collision

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

[1, 900000000] 60s

Mixer Output ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_AIRMODE (INT32)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.

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

ModalAI Custom Configuration ​

NameDescription[Min, Max] (Incr.)DefaultUnits
MODALAI_CONFIG (INT32)Custom configuration for ModalAI drones

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

Reboot required: True

0

Mount ​

NameDescription[Min, Max] (Incr.)DefaultUnits
MNT_DO_STAB (INT32)Stabilize the mount

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

Values:
  • 0: Disable
  • 1: Stabilize all axis
  • 2: Stabilize yaw for absolute/lock mode.
[0, 2] 0
MNT_LND_P_MAX (FLOAT)Pitch maximum when landed [-90.0, 90.0] 90.0deg
MNT_LND_P_MIN (FLOAT)Pitch minimum when landed [-90.0, 90.0] -90.0deg
MNT_MAN_PITCH (INT32)Auxiliary channel to control pitch (in AUX input or manual mode) Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
[0, 6] 0
MNT_MAN_ROLL (INT32)Auxiliary channel to control roll (in AUX input or manual mode) Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
[0, 6] 0
MNT_MAN_YAW (INT32)Auxiliary channel to control yaw (in AUX input or manual mode) Values:
  • 0: Disable
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
[0, 6] 0
MNT_MAV_COMPID (INT32)Mavlink Component ID of the mount

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

154
MNT_MAV_SYSID (INT32)Mavlink System ID of the mount

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

1
MNT_MODE_IN (INT32)Mount input mode

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

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

Reboot required: true

[-1, 4] -1
MNT_MODE_OUT (INT32)Mount output mode

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

参数对照:
  • 0: AUX
  • 1: MAVLink gimbal protocol v1
  • 2: MAVLink gimbal protocol v2

Reboot required: true

[0, 2] 0
MNT_OFF_PITCH (FLOAT)Offset for pitch channel output in degrees [-360.0, 360.0] 0.0deg
MNT_OFF_ROLL (FLOAT)Offset for roll channel output in degrees [-360.0, 360.0] 0.0deg
MNT_OFF_YAW (FLOAT)Offset for yaw channel output in degrees [-360.0, 360.0] 0.0deg
MNT_RANGE_PITCH (FLOAT)Range of pitch channel output in degrees (only in AUX output mode) [1.0, 720.0] 90.0deg
MNT_RANGE_ROLL (FLOAT)Range of roll channel output in degrees (only in AUX output mode) [1.0, 720.0] 90.0deg
MNT_RANGE_YAW (FLOAT)Range of yaw channel output in degrees (only in AUX output mode) [1.0, 720.0] 360.0deg
MNT_RATE_PITCH (FLOAT)Angular pitch rate for manual input in degrees/second

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

[1.0, 90.0] 30.0deg/s
MNT_RATE_YAW (FLOAT)Angular yaw rate for manual input in degrees/second

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

[1.0, 90.0] 30.0deg/s
MNT_RC_IN_MODE (INT32)Input mode for RC gimbal input Values:
  • 0: Angle
  • 1: Angular rate
[0, 1] 1

Multicopter Acro Mode ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_ACRO_EXPO (FLOAT)Acro mode roll, pitch expo factor

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

[0, 1] 0.
MC_ACRO_EXPO_Y (FLOAT)Acro mode yaw expo factor

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

[0, 1] 0.
MC_ACRO_P_MAX (FLOAT)Acro mode maximum pitch rate

Comment: Full stick deflection leads to this rate.

[0.0, 1800.0] (5)100.deg/s
MC_ACRO_R_MAX (FLOAT)Acro mode maximum roll rate

Comment: Full stick deflection leads to this rate.

[0.0, 1800.0] (5)100.deg/s
MC_ACRO_SUPEXPO (FLOAT)Acro mode roll, pitch super expo factor

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

[0, 0.95] 0.
MC_ACRO_SUPEXPOY (FLOAT)Acro mode yaw super expo factor

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

[0, 0.95] 0.
MC_ACRO_Y_MAX (FLOAT)Acro mode maximum yaw rate

Comment: Full stick deflection leads to this rate.

[0.0, 1800.0] (5)100.deg/s

Multicopter Attitude Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_PITCHRATE_MAX (FLOAT)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.

[0.0, 1800.0] (5)220.0deg/s
MC_PITCH_P (FLOAT)Pitch P gain

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

[0.0, 12] (0.1)6.5
MC_ROLLRATE_MAX (FLOAT)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.

[0.0, 1800.0] (5)220.0deg/s
MC_ROLL_P (FLOAT)Roll P gain

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

[0.0, 12] (0.1)6.5
MC_YAWRATE_MAX (FLOAT)Max yaw rate [0.0, 1800.0] (5)200.0deg/s
MC_YAW_P (FLOAT)Yaw P gain

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

[0.0, 5] (0.1)2.8
MC_YAW_WEIGHT (FLOAT)Yaw weight

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

[0.0, 1.0] (0.1)0.4
MPC_YAWRAUTO_ACC (FLOAT)Maximum yaw acceleration in autonomous modes

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

[5, 360] (5)60.deg/s^2
MPC_YAWRAUTO_MAX (FLOAT)Maximum yaw rate in autonomous modes

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

[5, 360] (5)45.deg/s

Multicopter Position Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
CP_DELAY (FLOAT)Average delay of the range sensor message plus the tracking delay of the position controller in seconds

Comment: Only used in Position mode.

[0, 1] 0.4s
CP_DIST (FLOAT)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

[-1, 15] -1.0m
CP_GO_NO_DATA (INT32)Boolean to allow moving into directions where there is no sensor data (outside FOV)

Comment: Only used in Position mode.

Disabled (0)
CP_GUIDE_ANG (FLOAT)Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction

Comment: Only used in Position mode.

[0, 90] 30.deg
MC_MAN_TILT_TAU (FLOAT)Manual tilt input filter time constant

Comment: Setting this parameter to 0 disables the filter

[0.0, 2.0] 0.0s
MPC_ACC_DECOUPLE (INT32)Acceleration to tilt coupling

Comment: Set to decouple tilt from vertical acceleration.

Enabled (1)
MPC_ACC_DOWN_MAX (FLOAT)Maximum downwards acceleration in climb rate controlled modes [2, 15] (1)3.m/s^2
MPC_ACC_HOR (FLOAT)Acceleration for autonomous and for manual modes

Comment: When piloting manually, this parameter is only used in MPC_POS_MODE 4.

[2, 15] (1)3.m/s^2
MPC_ACC_HOR_MAX (FLOAT)Maximum horizontal acceleration

Comment: MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead

[2, 15] (1)5.m/s^2
MPC_ACC_UP_MAX (FLOAT)Maximum upwards acceleration in climb rate controlled modes [2, 15] (1)4.m/s^2
MPC_ALT_MODE (INT32)Altitude reference 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.

参数对照:
  • 0: Altitude following
  • 1: Terrain following
  • 2: Terrain hold
[0, 2] 2
MPC_HOLD_DZ (FLOAT)Deadzone for sticks in manual piloted modes

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

[0, 1] (0.01)0.1
MPC_HOLD_MAX_XY (FLOAT)Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)

Comment: Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2

[0, 3] 0.8m/s
MPC_HOLD_MAX_Z (FLOAT)Maximum vertical velocity for which position hold is enabled (use 0 to disable check)

Comment: Only used with MPC_ALT_MODE 1

[0, 3] 0.6m/s
MPC_JERK_AUTO (FLOAT)Jerk limit in autonomous modes

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

[1, 80] (1)4.m/s^3
MPC_JERK_MAX (FLOAT)Maximum horizontal and vertical jerk in Position/Altitude mode

Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE 3 and 4.

[0.5, 500] (1)8.m/s^3
MPC_LAND_ALT1 (FLOAT)Altitude for 1. step of slow landing (descend)

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

[0, 122] 10.m
MPC_LAND_ALT2 (FLOAT)Altitude for 2. step of slow landing (landing)

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

[0, 122] 5.m
MPC_LAND_ALT3 (FLOAT)Altitude for 3. step of slow landing

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

[0, 122] 1.m
MPC_LAND_CRWL (FLOAT)Land crawl descend rate

Comment: Used below MPC_LAND_ALT3 if distance sensor data is availabe.

[0.1, ?] 0.3m/s
MPC_LAND_RADIUS (FLOAT)User assisted landing radius

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

[0, ?] (1)1000.m
MPC_LAND_RC_HELP (INT32)Enable nudging based on user input during autonomous land routine

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

参数对照:
  • 0: Nudging disabled
  • 1: Nudging enabled
[0, 1] 0
MPC_LAND_SPEED (FLOAT)Landing descend rate [0.6, ?] 0.7m/s
MPC_MANTHR_MIN (FLOAT)Minimum collective thrust in Stabilized mode

Comment: The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).

[0, 1] (0.01)0.08norm
MPC_MAN_TILT_MAX (FLOAT)Maximal tilt angle in Stabilized or Altitude mode [1, 70] (1)35.deg
MPC_MAN_Y_MAX (FLOAT)Max manual yaw rate for Stabilized, Altitude, Position mode [0, 400] (10)150.deg/s
MPC_MAN_Y_TAU (FLOAT)Manual yaw rate input filter time constant

Comment: Not used in Stabilized mode Setting this parameter to 0 disables the filter

[0, 5] (0.01)0.08s
MPC_POS_MODE (INT32)Position/Altitude mode variant

Comment: The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. 3 Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Sticks map to acceleration and there's a virtual brake drag

参数对照:
  • 0: Direct velocity
  • 3: Smoothed velocity
  • 4: Acceleration based
4
MPC_THR_CURVE (INT32)Thrust curve mapping in Stabilized Mode

Comment: This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized 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%, then 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.

参数对照:
  • 0: Rescale to hover thrust
  • 1: No Rescale
0
MPC_THR_HOVER (FLOAT)Vertical thrust required to hover

Comment: Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.

[0.1, 0.8] (0.01)0.5norm
MPC_THR_MAX (FLOAT)Maximum collective thrust in climb rate controlled modes

Comment: Limit allowed thrust e.g. for indoor test of overpowered vehicle.

[0, 1] (0.05)1.norm
MPC_THR_MIN (FLOAT)Minimum collective thrust in climb rate controlled modes

Comment: Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).

[0.05, 0.5] (0.01)0.12norm
MPC_THR_XY_MARG (FLOAT)Horizontal thrust margin

Comment: Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.

[0, 0.5] (0.01)0.3norm
MPC_TILTMAX_AIR (FLOAT)Maximum tilt angle in air

Comment: Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.

[20, 89] (1)45.deg
MPC_TILTMAX_LND (FLOAT)Maximum tilt during inital takeoff ramp

Comment: Tighter tilt limit during takeoff to avoid tip over.

[5, 89] (1)12.deg
MPC_TKO_RAMP_T (FLOAT)Smooth takeoff ramp time constant

Comment: Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp

[0, 5] 3.s
MPC_TKO_SPEED (FLOAT)Takeoff climb rate [1, 5] 1.5m/s
MPC_USE_HTE (INT32)Hover thrust estimator

Comment: Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator

Enabled (1)
MPC_VELD_LP (FLOAT)Velocity derivative low pass cutoff frequency

Comment: A value of 0 disables the filter.

[0, 50] (0.5)5.0Hz
MPC_VEL_LP (FLOAT)Velocity low pass cutoff frequency

Comment: A value of 0 disables the filter.

[0, 50] (0.5)0.0Hz
MPC_VEL_MANUAL (FLOAT)Maximum horizontal velocity setpoint in Position mode

Comment: Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.

[3, 20] (1)10.m/s
MPC_VEL_MAN_BACK (FLOAT)Maximum backward velocity in Position mode

Comment: If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.

[-1, 20] (1)-1.m/s
MPC_VEL_MAN_SIDE (FLOAT)Maximum sideways velocity in Position mode

Comment: If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.

[-1, 20] (1)-1.m/s
MPC_VEL_NF_BW (FLOAT)Velocity notch filter bandwidth

Comment: A value of 0 disables the filter.

[0, 50] (0.5)5.0Hz
MPC_VEL_NF_FRQ (FLOAT)Velocity notch filter frequency

Comment: The center frequency for the 2nd order notch filter on the velocity. A value of 0 disables the filter.

[0, 50] (0.5)0.0Hz
MPC_XY_CRUISE (FLOAT)Default horizontal velocity in autonomous modes

Comment: e.g. in Missions, RTL, Goto if the waypoint does not specify differently

[3, 20] (1)5.m/s
MPC_XY_ERR_MAX (FLOAT)Maximum horizontal error allowed by the trajectory generator

Comment: The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.

[0.1, 10] (1)2.
MPC_XY_MAN_EXPO (FLOAT)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 1 Purely cubic input curve

[0, 1] (0.01)0.6
MPC_XY_P (FLOAT)Proportional gain for horizontal position error

Comment: Defined as corrective velocity in m/s per m position error

[0, 2] (0.1)0.95
MPC_XY_TRAJ_P (FLOAT)Proportional gain for horizontal trajectory position error [0.1, 1] (0.1)0.5
MPC_XY_VEL_ALL (FLOAT)Overall Horizontal Velocity Limit

Comment: If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.

[-20, 20] (1)-10.
MPC_XY_VEL_D_ACC (FLOAT)Differential gain for horizontal velocity error

Comment: Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative

[0.1, 2] (0.02)0.2
MPC_XY_VEL_I_ACC (FLOAT)Integral gain for horizontal velocity error

Comment: Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.

[0, 60] (0.02)0.4
MPC_XY_VEL_MAX (FLOAT)Maximum horizontal velocity

Comment: Absolute maximum for all velocity controlled modes. Any higher value is truncated.

[0, 20] (1)12.m/s
MPC_XY_VEL_P_ACC (FLOAT)Proportional gain for horizontal velocity error

Comment: Defined as corrective acceleration in m/s^2 per m/s velocity error

[1.2, 5] (0.1)1.8
MPC_YAW_EXPO (FLOAT)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 1 Purely cubic input curve

[0, 1] (0.01)0.6
MPC_Z_MAN_EXPO (FLOAT)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 1 Purely cubic input curve

[0, 1] (0.01)0.6
MPC_Z_P (FLOAT)Proportional gain for vertical position error

Comment: Defined as corrective velocity in m/s per m position error

[0.1, 1.5] (0.1)1.
MPC_Z_VEL_ALL (FLOAT)Overall Vertical Velocity Limit

Comment: If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.

[-3, 8] (0.5)-3.
MPC_Z_VEL_D_ACC (FLOAT)Differential gain for vertical velocity error

Comment: Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative

[0, 2] (0.02)0.
MPC_Z_VEL_I_ACC (FLOAT)Integral gain for vertical velocity error

Comment: Defined as corrective acceleration in m/s^2 per m velocity integral

[0.2, 3] (0.1)2.
MPC_Z_VEL_MAX_DN (FLOAT)Maximum descent velocity

Comment: Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP

[0.5, 4] (0.1)1.5m/s
MPC_Z_VEL_MAX_UP (FLOAT)Maximum ascent velocity

Comment: Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP

[0.5, 8] (0.1)3.m/s
MPC_Z_VEL_P_ACC (FLOAT)Proportional gain for vertical velocity error

Comment: Defined as corrective acceleration in m/s^2 per m/s velocity error

[2, 15] (0.1)4.
MPC_Z_V_AUTO_DN (FLOAT)Descent velocity in autonomous modes

Comment: For manual modes and offboard, see MPC_Z_VEL_MAX_DN

[0.5, 4] (0.5)1.5m/s
MPC_Z_V_AUTO_UP (FLOAT)Ascent velocity in autonomous modes

Comment: For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP

[0.5, 8] (0.5)3.m/s
SYS_VEHICLE_RESP (FLOAT)Responsiveness

Comment: Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.

[-1, 1] (0.05)-0.4
WV_EN (INT32)Enable weathervane Disabled (0)
WV_ROLL_MIN (FLOAT)Minimum roll angle setpoint for weathervane controller to demand a yaw-rate [0, 5] 1.0deg
WV_YRATE_MAX (FLOAT)Maximum yawrate the weathervane controller is allowed to demand [0, 120] 90.0deg/s

Multicopter Position Slow Mode ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_SLOW_DEF_HVEL (FLOAT)Default horizontal velocity limit

Comment: This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

[0.1, ?] (0.1)3.m/s
MC_SLOW_DEF_VVEL (FLOAT)Default vertical velocity limit

Comment: This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

[0.1, ?] (0.1)1.m/s
MC_SLOW_DEF_YAWR (FLOAT)Default yaw rate limit

Comment: This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.

[1, ?] (0.1)45.deg/s
MC_SLOW_MAP_HVEL (INT32)Manual input mapped to scale horizontal velocity in position slow mode Values:
  • 0: No rescaling
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
0
MC_SLOW_MAP_VVEL (INT32)Manual input mapped to scale vertical velocity in position slow mode Values:
  • 0: No rescaling
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
0
MC_SLOW_MAP_YAWR (INT32)Manual input mapped to scale yaw rate in position slow mode Values:
  • 0: No rescaling
  • 1: AUX1
  • 2: AUX2
  • 3: AUX3
  • 4: AUX4
  • 5: AUX5
  • 6: AUX6
0
MC_SLOW_MIN_HVEL (FLOAT)Horizontal velocity lower limit

Comment: The lowest input maps and is clamped to this velocity.

[0.1, ?] (0.1).3m/s
MC_SLOW_MIN_VVEL (FLOAT)Vertical velocity lower limit

Comment: The lowest input maps and is clamped to this velocity.

[0.1, ?] (0.1).3m/s
MC_SLOW_MIN_YAWR (FLOAT)Yaw rate lower limit

Comment: The lowest input maps and is clamped to this rate.

[1, ?] (0.1)3.deg/s

Multicopter Rate Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
MC_BAT_SCALE_EN (INT32)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.

Disabled (0)
MC_PITCHRATE_D (FLOAT)Pitch rate D gain

Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

[0.0, ?] (0.0005)0.003
MC_PITCHRATE_FF (FLOAT)Pitch rate feedforward

Comment: Improves tracking performance.

[0.0, ?] 0.0
MC_PITCHRATE_I (FLOAT)Pitch rate I gain

Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

[0.0, ?] (0.01)0.2
MC_PITCHRATE_K (FLOAT)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.

[0.01, 5.0] (0.0005)1.0
MC_PITCHRATE_P (FLOAT)Pitch rate P gain

Comment: Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.

[0.01, 0.6] (0.01)0.15
MC_PR_INT_LIM (FLOAT)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.

[0.0, ?] (0.01)0.30
MC_ROLLRATE_D (FLOAT)Roll rate D gain

Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

[0.0, 0.01] (0.0005)0.003
MC_ROLLRATE_FF (FLOAT)Roll rate feedforward

Comment: Improves tracking performance.

[0.0, ?] 0.0
MC_ROLLRATE_I (FLOAT)Roll rate I gain

Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

[0.0, ?] (0.01)0.2
MC_ROLLRATE_K (FLOAT)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.

[0.01, 5.0] (0.0005)1.0
MC_ROLLRATE_P (FLOAT)Roll rate P gain

Comment: Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.

[0.01, 0.5] (0.01)0.15
MC_RR_INT_LIM (FLOAT)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.

[0.0, ?] (0.01)0.30
MC_YAWRATE_D (FLOAT)Yaw rate D gain

Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.

[0.0, ?] (0.01)0.0
MC_YAWRATE_FF (FLOAT)Yaw rate feedforward

Comment: Improves tracking performance.

[0.0, ?] (0.01)0.0
MC_YAWRATE_I (FLOAT)Yaw rate I gain

Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.

[0.0, ?] (0.01)0.1
MC_YAWRATE_K (FLOAT)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.

[0.0, 5.0] (0.0005)1.0
MC_YAWRATE_P (FLOAT)Yaw rate P gain

Comment: Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.

[0.0, 0.6] (0.01)0.2
MC_YR_INT_LIM (FLOAT)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.

[0.0, ?] (0.01)0.30

OSD ​

名称参数描述[Min, Max] (Incr.)默认值单位
MSP_OSD_CONFIG (INT32)Serial Configuration for MSP OSD

Comment: Configure on which serial port to run MSP OSD.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
OSD_ATXXXX_CFG (INT32)Enable/Disable the ATXXX OSD Chip

Comment: Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.

参数对照:
  • 0: Disabled
  • 1: NTSC
  • 2: PAL

Reboot required: true

0
OSD_CH_HEIGHT (INT32)OSD Crosshairs Height

Comment: Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon

[-8, 8] 0
OSD_DWELL_TIME (INT32)OSD Dwell Time (ms)

Comment: Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.

[100, 10000] 500
OSD_LOG_LEVEL (INT32)OSD Warning Level

Comment: Minimum security of log level to display on the OSD.

3
OSD_SCROLL_RATE (INT32)OSD Scroll Rate (ms)

Comment: Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.

[100, 1000] 125
OSD_SYMBOLS (INT32)OSD Symbol Selection

Comment: Configure / toggle support display options.

Bitmask:
  • 0: CRAFT_NAME
  • 1: DISARMED
  • 2: GPS_LAT
  • 3: GPS_LON
  • 4: GPS_SATS
  • 5: GPS_SPEED
  • 6: HOME_DIST
  • 7: HOME_DIR
  • 8: MAIN_BATT_VOLTAGE
  • 9: CURRENT_DRAW
  • 10: MAH_DRAWN
  • 11: RSSI_VALUE
  • 12: ALTITUDE
  • 13: NUMERICAL_VARIO
  • 14: (unused) FLYMODE
  • 15: (unused) ESC_TMP
  • 16: (unused) PITCH_ANGLE
  • 17: (unused) ROLL_ANGLE
  • 18: CROSSHAIRS
  • 19: AVG_CELL_VOLTAGE
  • 20: (unused) HORIZON_SIDEBARS
  • 21: POWER
[0, 4194303] 16383

PWM Outputs ​

名称参数描述[Min, Max] (Incr.)默认值单位
MOT_SLEW_MAX (FLOAT)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 minimum x seconds. Zero means that slew rate limiting is disabled.

[0.0, ?] 0.0s/(1000*PWM)
PWM_SBUS_MODE (INT32)S.BUS out

Comment: Set to 1 to enable S.BUS version 1 output instead of RSSI.

Disabled (0)
THR_MDL_FAC (FLOAT)Thrust to motor control signal model parameter

Comment: Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.

[0.0, 1.0] (0.1)0.0

Payload Deliverer ​

NameDescription[Min, Max] (Incr.)DefaultUnits
PD_GRIPPER_EN (INT32)Enable Gripper actuation in Payload Deliverer

Reboot required: True

Disabled (0)
PD_GRIPPER_TO (FLOAT)Timeout for successful gripper actuation acknowledgement

Comment: Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action

[0, ?] 3s
PD_GRIPPER_TYPE (INT32)Type of Gripper (Servo, etc.) Values:
  • -1: Undefined
  • 0: Servo
[-1, 0] 0

Precision Land ​

名称参数描述[Min, Max] (Incr.)默认值单位
PLD_BTOUT (FLOAT)Landing Target Timeout

Comment: Time after which the landing target is considered lost without any new measurements.

[0.0, 50] (0.5)5.0s
PLD_FAPPR_ALT (FLOAT)Final approach altitude

Comment: Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.

[0.0, 10] (0.1)0.1m
PLD_HACC_RAD (FLOAT)Horizontal acceptance radius

Comment: Start descending if closer above landing target than this.

[0.0, 10] (0.1)0.2m
PLD_MAX_SRCH (INT32)Maximum number of search attempts

Comment: Maximum number of times to search for the landing target if it is lost during the precision landing.

[0, 100] 3
PLD_SRCH_ALT (FLOAT)Search altitude

Comment: Altitude above home to which to climb when searching for the landing target.

[0.0, 100] (0.1)10.0m
PLD_SRCH_TOUT (FLOAT)Search timeout

Comment: Time allowed to search for the landing target before falling back to normal landing.

[0.0, 100] (0.1)10.0s

RC ​

NameDescription[Min, Max] (Incr.)DefaultUnits
RC_CRSF_TEL_EN (INT32)Crossfire RC telemetry enable

Comment: Crossfire telemetry enable

Disabled (0)

RC Input ​

NameDescription[Min, Max] (Incr.)DefaultUnits
RC_INPUT_PROTO (INT32)RC input protocol

Comment: Select your RC input protocol or auto to scan.

参数对照:
  • -1: Auto
  • 0: None
  • 1: PPM
  • 2: SBUS
  • 3: DSM
  • 4: ST24
  • 5: SUMD
  • 6: CRSF
  • 7: GHST
[-1, 7] -1

Radio Calibration ​

名称参数描述[Min, Max] (Incr.)默认值单位
RC10_DZ (FLOAT)RC channel 10 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC10_MAX (FLOAT)RC channel 10 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000µs
RC10_MIN (FLOAT)RC channel 10 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC10_REV (FLOAT)RC channel 10 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC10_TRIM (FLOAT)RC channel 10 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC11_DZ (FLOAT)RC channel 11 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC11_MAX (FLOAT)RC channel 11 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC11_MIN (FLOAT)RC channel 11 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC11_REV (FLOAT)RC channel 11 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC11_TRIM (FLOAT)RC channel 11 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC12_DZ (FLOAT)RC channel 12 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC12_MAX (FLOAT)RC channel 12 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC12_MIN (FLOAT)RC channel 12 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC12_REV (FLOAT)RC channel 12 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC12_TRIM (FLOAT)RC channel 12 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC13_DZ (FLOAT)RC channel 13 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC13_MAX (FLOAT)RC channel 13 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC13_MIN (FLOAT)RC channel 13 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC13_REV (FLOAT)RC channel 13 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC13_TRIM (FLOAT)RC channel 13 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC14_DZ (FLOAT)RC channel 14 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC14_MAX (FLOAT)RC channel 14 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC14_MIN (FLOAT)RC channel 14 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC14_REV (FLOAT)RC channel 14 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC14_TRIM (FLOAT)RC channel 14 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC15_DZ (FLOAT)RC channel 15 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC15_MAX (FLOAT)RC channel 15 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC15_MIN (FLOAT)RC channel 15 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC15_REV (FLOAT)RC channel 15 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC15_TRIM (FLOAT)RC channel 15 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC16_DZ (FLOAT)RC channel 16 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC16_MAX (FLOAT)RC channel 16 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC16_MIN (FLOAT)RC channel 16 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC16_REV (FLOAT)RC channel 16 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC16_TRIM (FLOAT)RC channel 16 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC17_DZ (FLOAT)RC channel 17 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC17_MAX (FLOAT)RC channel 17 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC17_MIN (FLOAT)RC channel 17 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC17_REV (FLOAT)RC channel 17 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC17_TRIM (FLOAT)RC channel 17 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC18_DZ (FLOAT)RC channel 18 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC18_MAX (FLOAT)RC channel 18 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC18_MIN (FLOAT)RC channel 18 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC18_REV (FLOAT)RC channel 18 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC18_TRIM (FLOAT)RC channel 18 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC1_DZ (FLOAT)RC channel 1 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0us
RC1_MAX (FLOAT)RC channel 1 maximum

Comment: Maximum value for RC channel 1

[1500.0, 2200.0] 2000.0us
RC1_MIN (FLOAT)RC channel 1 minimum

Comment: Minimum value for RC channel 1

[800.0, 1500.0] 1000.0us
RC1_REV (FLOAT)RC channel 1 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC1_TRIM (FLOAT)RC channel 1 trim

Comment: Mid point value

[800.0, 2200.0] 1500.0us
RC2_DZ (FLOAT)RC channel 2 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0us
RC2_MAX (FLOAT)RC channel 2 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000.0us
RC2_MIN (FLOAT)RC channel 2 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000.0us
RC2_REV (FLOAT)RC channel 2 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC2_TRIM (FLOAT)RC channel 2 trim

Comment: Mid point value

[800.0, 2200.0] 1500.0us
RC3_DZ (FLOAT)RC channel 3 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0us
RC3_MAX (FLOAT)RC channel 3 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC3_MIN (FLOAT)RC channel 3 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC3_REV (FLOAT)RC channel 3 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC3_TRIM (FLOAT)RC channel 3 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC4_DZ (FLOAT)RC channel 4 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0us
RC4_MAX (FLOAT)RC channel 4 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC4_MIN (FLOAT)RC channel 4 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC4_REV (FLOAT)RC channel 4 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC4_TRIM (FLOAT)RC channel 4 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC5_DZ (FLOAT)RC channel 5 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0
RC5_MAX (FLOAT)RC channel 5 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC5_MIN (FLOAT)RC channel 5 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC5_REV (FLOAT)RC channel 5 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC5_TRIM (FLOAT)RC channel 5 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC6_DZ (FLOAT)RC channel 6 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0
RC6_MAX (FLOAT)RC channel 6 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC6_MIN (FLOAT)RC channel 6 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC6_REV (FLOAT)RC channel 6 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC6_TRIM (FLOAT)RC channel 6 trim

Comment: Mid point value

[800.0, 2200.0] 1500µs
RC7_DZ (FLOAT)RC channel 7 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0
RC7_MAX (FLOAT)RC channel 7 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC7_MIN (FLOAT)RC channel 7 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC7_REV (FLOAT)RC channel 7 reverse

Comment: Set to -1 to reverse channel.

Values:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC7_TRIM (FLOAT)RC channel 7 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC8_DZ (FLOAT)RC channel 8 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 10.0
RC8_MAX (FLOAT)RC channel 8 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC8_MIN (FLOAT)RC channel 8 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC8_REV (FLOAT)RC channel 8 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC8_TRIM (FLOAT)RC channel 8 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC9_DZ (FLOAT)RC channel 9 dead zone

Comment: The +- range of this value around the trim value will be considered as zero.

[0.0, 100.0] 0.0
RC9_MAX (FLOAT)RC channel 9 maximum

Comment: Maximum value for this channel.

[1500.0, 2200.0] 2000us
RC9_MIN (FLOAT)RC channel 9 minimum

Comment: Minimum value for this channel.

[800.0, 1500.0] 1000us
RC9_REV (FLOAT)RC channel 9 reverse

Comment: Set to -1 to reverse channel.

参数对照:
  • -1.0: Reverse
  • 1.0: Normal
[-1.0, 1.0] 1.0
RC9_TRIM (FLOAT)RC channel 9 trim

Comment: Mid point value

[800.0, 2200.0] 1500us
RC_CHAN_CNT (INT32)RC channel count

Comment: This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.

[0, 18] 0
RC_FAILS_THR (INT32)Failsafe channel PWM threshold

Comment: Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).

[0, 2200] 0us
RC_MAP_AUX1 (INT32)AUX1 Passthrough RC channel

Comment: Default function: Camera pitch

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_AUX2 (INT32)AUX2 Passthrough RC channel

Comment: Default function: Camera roll

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_AUX3 (INT32)AUX3 Passthrough RC channel

Comment: Default function: Camera azimuth / yaw

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_AUX4 (INT32)AUX4 Passthrough RC channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_AUX5 (INT32)AUX5 Passthrough RC channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_AUX6 (INT32)AUX6 Passthrough RC channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_ENG_MOT (INT32)RC channel to engage the main motor (for helicopters) Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_FAILSAFE (INT32)Failsafe channel mapping

Comment: Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_PARAM1 (INT32)PARAM1 tuning channel

Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_PARAM2 (INT32)PARAM2 tuning channel

Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_PARAM3 (INT32)PARAM3 tuning channel

Comment: Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_PITCH (INT32)Pitch control channel mapping

Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_ROLL (INT32)Roll control channel mapping

Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_THROTTLE (INT32)Throttle control channel mapping

Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_YAW (INT32)Yaw control channel mapping

Comment: The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_RSSI_PWM_CHAN (INT32)PWM input channel that provides RSSI

Comment: 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_RSSI_PWM_MAX (INT32)Max input value for RSSI reading

Comment: Only used if RC_RSSI_PWM_CHAN > 0

[0, 2000] 2000
RC_RSSI_PWM_MIN (INT32)Min input value for RSSI reading

Comment: Only used if RC_RSSI_PWM_CHAN > 0

[0, 2000] 1000
TRIM_PITCH (FLOAT)Pitch trim

Comment: The trim value is the actuator control value the system needs for straight and level flight.

[-0.5, 0.5] (0.01)0.0
TRIM_ROLL (FLOAT)Roll trim

Comment: The trim value is the actuator control value the system needs for straight and level flight.

[-0.5, 0.5] (0.01)0.0
TRIM_YAW (FLOAT)Yaw trim

Comment: The trim value is the actuator control value the system needs for straight and level flight.

[-0.5, 0.5] (0.01)0.0

Radio Switches ​

名称参数描述[Min, Max] (Incr.)默认值单位
RC_ARMSWITCH_TH (FLOAT)Threshold for the arm switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_ENG_MOT_TH (FLOAT)Threshold for selecting main motor engage

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_GEAR_TH (FLOAT)Threshold for the landing gear switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_KILLSWITCH_TH (FLOAT)Threshold for the kill switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_LOITER_TH (FLOAT)Threshold for selecting loiter mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_MAP_ARM_SW (INT32)Arm switch channel

Comment: Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_FLAPS (INT32)Flaps channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_FLTMODE (INT32)Single channel flight mode selection

Comment: If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.

Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_FLTM_BTN (INT32)Button flight mode selection

Comment: This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.

Bitmask:
  • 0: Mask Channel 1 as a mode button
  • 1: Mask Channel 2 as a mode button
  • 2: Mask Channel 3 as a mode button
  • 3: Mask Channel 4 as a mode button
  • 4: Mask Channel 5 as a mode button
  • 5: Mask Channel 6 as a mode button
  • 6: Mask Channel 7 as a mode button
  • 7: Mask Channel 8 as a mode button
  • 8: Mask Channel 9 as a mode button
  • 9: Mask Channel 10 as a mode button
  • 10: Mask Channel 11 as a mode button
  • 11: Mask Channel 12 as a mode button
  • 12: Mask Channel 13 as a mode button
  • 13: Mask Channel 14 as a mode button
  • 14: Mask Channel 15 as a mode button
  • 15: Mask Channel 16 as a mode button
  • 16: Mask Channel 17 as a mode button
  • 17: Mask Channel 18 as a mode button
[0, 258048] 0
RC_MAP_GEAR_SW (INT32)Landing gear switch channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_KILL_SW (INT32)Emergency Kill switch channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_LOITER_SW (INT32)Loiter switch channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_MODE_SW (INT32)Mode switch channel mapping (deprecated)

Comment: This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.

参数对照:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_OFFB_SW (INT32)Offboard switch channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_RETURN_SW (INT32)Return switch channel Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_MAP_TRANS_SW (INT32)VTOL transition switch channel mapping Values:
  • 0: Unassigned
  • 1: Channel 1
  • 2: Channel 2
  • 3: Channel 3
  • 4: Channel 4
  • 5: Channel 5
  • 6: Channel 6
  • 7: Channel 7
  • 8: Channel 8
  • 9: Channel 9
  • 10: Channel 10
  • 11: Channel 11
  • 12: Channel 12
  • 13: Channel 13
  • 14: Channel 14
  • 15: Channel 15
  • 16: Channel 16
  • 17: Channel 17
  • 18: Channel 18
[0, 18] 0
RC_OFFB_TH (FLOAT)Threshold for selecting offboard mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_RETURN_TH (FLOAT)Threshold for selecting return to launch mode

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75
RC_TRANS_TH (FLOAT)Threshold for the VTOL transition switch

Comment: 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th

[-1, 1] 0.75

Return Mode ​

名称参数描述[Min, Max] (Incr.)默认值单位
RTL_CONE_ANG (INT32)Half-angle of the return mode altitude cone

Comment: Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.

参数对照:
  • 0: No cone, always climb to RTL_RETURN_ALT above destination.
  • 25: 25 degrees half cone angle.
  • 45: 45 degrees half cone angle.
  • 65: 65 degrees half cone angle.
  • 80: 80 degrees half cone angle.
  • 90: Only climb to at least RTL_DESCEND_ALT above destination.
[0, 90] 45deg
RTL_DESCEND_ALT (FLOAT)Return mode loiter altitude

Comment: Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.

[0, ?] (0.5)30.m
RTL_LAND_DELAY (FLOAT)Return mode delay

Comment: Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

[-1, ?] (0.5)0.0s
RTL_LOITER_RAD (FLOAT)Loiter radius for rtl descend

Comment: Set the radius for loitering to a safe altitude for VTOL transition.

[25, ?] (0.5)80.0m
RTL_MIN_DIST (FLOAT)Horizontal radius from return point within which special rules for return mode apply

Comment: The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.

[0.5, ?] (0.5)10.0m
RTL_PLD_MD (INT32)RTL precision land mode

Comment: Use precision landing when doing an RTL landing phase.

参数对照:
  • 0: No precision landing
  • 1: Opportunistic precision landing
  • 2: Required precision landing
0
RTL_RETURN_ALT (FLOAT)Return mode return altitude

Comment: Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.

[0, ?] (0.5)60.m
RTL_TYPE (INT32)Return type

Comment: Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)

参数对照:
  • 0: Return to closest safe point (home or rally point) via direct path.
  • 1: Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.
  • 2: Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
  • 3: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
0

Return To Land ​

名称参数描述[Min, Max] (Incr.)默认值单位
RTL_APPR_FORCE (INT32)RTL force approach landing

Comment: Only consider RTL point, if it has an approach defined.

Disabled (0)
RTL_TIME_FACTOR (FLOAT)RTL time estimate safety margin factor

Comment: Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN

[1.0, 2.0] (0.1)1.1
RTL_TIME_MARGIN (INT32)RTL time estimate safety margin offset

Comment: Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN

[0, 3600] (1)100s

Roboclaw ​

NameDescription[Min, Max] (Incr.)DefaultUnits
RBCLW_SER_CFG (INT32)Serial Configuration for Roboclaw Driver

Comment: Configure on which serial port to run Roboclaw Driver.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0

Roboclaw Driver ​

NameDescription[Min, Max] (Incr.)DefaultUnits
RBCLW_ADDRESS (INT32)Address of the ESC on the bus

Comment: The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.

参数对照:
  • 128: 0x80
  • 129: 0x81
  • 130: 0x82
  • 131: 0x83
  • 132: 0x84
  • 133: 0x85
  • 134: 0x86
  • 135: 0x87
[128, 135] 128
RBCLW_COUNTS_REV (INT32)Number of encoder counts for one wheel revolution

Comment: The default value of 1200 corresponds to the default configuration of the Aion R1 rover.

[1, ?] 1200

Rover Ackermann ​

名称参数描述[Min, Max] (Incr.)默认值单位
RA_ACC_RAD_DEF (FLOAT)Default acceptance radius [0.1, 100] (0.01)0.5m
RA_ACC_RAD_GAIN (FLOAT)Tuning parameter for corner cutting

Comment: The geometric ideal acceptance radius is multiplied by this factor to account for kinematic and dynamic effects. Higher value -> The rover starts to cut the corner earlier.

[1, 100] (0.01)2
RA_ACC_RAD_MAX (FLOAT)Maximum acceptance radius

Comment: The controller scales the acceptance radius based on the angle between the previous, current and next waypoint. Used as tuning parameter. Higher value -> smoother trajectory at the cost of how close the rover gets to the waypoint (Set equal to RA_ACC_RAD_DEF to disable corner cutting).

[0.1, 100] (0.01)3m
RA_LOOKAHD_GAIN (FLOAT)Tuning parameter for the pure pursuit controller

Comment: Lower value -> More aggressive controller (beware overshoot/oscillations)

[0.1, 100] (0.01)1
RA_LOOKAHD_MAX (FLOAT)Maximum lookahead distance for the pure pursuit controller

Comment: This is the maximum crosstrack error before the controller starts targeting the current waypoint rather then the path between the previous and next waypoint.

[0.1, 100] (0.01)10m
RA_LOOKAHD_MIN (FLOAT)Minimum lookahead distance for the pure pursuit controller [0.1, 100] (0.01)1m
RA_MAX_SPEED (FLOAT)Speed the rover drives at maximum throttle

Comment: This is used for the feed-forward term of the speed controller. A value of -1 disables the feed-forward term in which case the Integrator (RA_SPEED_I) becomes necessary to track speed setpoints.

[-1, 100] (0.01)-1m/s
RA_MAX_STR_ANG (FLOAT)Maximum steering angle

Comment: The maximum angle that the rover can steer

[0.1, 1.5708] (0.01)0.5236rad
RA_MISS_VEL_DEF (FLOAT)Default rover velocity during a mission [0.1, 100] (0.01)3m/s
RA_MISS_VEL_GAIN (FLOAT)Tuning parameter for the velocity reduction during cornering

Comment: Lower value -> More velocity reduction during cornering

[0.1, 100] (0.01)5
RA_MISS_VEL_MIN (FLOAT)Minimum rover velocity during a mission

Comment: The velocity off the rover is reduced based on the corner it has to take to smooth the trajectory (To disable this feature set it equal to RA_MISSION_VEL_DEF)

[0.1, 100] (0.01)1m/s
RA_SPEED_I (FLOAT)Integral gain for ground speed controller [0, 100] (0.01)1
RA_SPEED_P (FLOAT)Proportional gain for ground speed controller [0, 100] (0.01)1
RA_WHEEL_BASE (FLOAT)Wheel base

Comment: Distance from the front to the rear axle

[0.001, 100] (0.001)0.5m

Rover Differential Drive ​

名称参数描述[Min, Max] (Incr.)默认值单位
RDD_ANG_SCALE (FLOAT)Manual angular velocity scale [0, 1] (0.01)1
RDD_I_ANG_VEL (FLOAT)Integral gain for angular velocity controller [0, 100] (0.01)0
RDD_I_SPEED (FLOAT)Integral gain for ground speed controller [0, 100] (0.01)0
RDD_MAX_ACCEL (FLOAT)Maximum acceleration

Comment: Maximum acceleration is used to limit the acceleration of the rover

[0, 100] (0.01)0.5m/s^2
RDD_MAX_JERK (FLOAT)Maximum jerk

Comment: Limit for forwards acc/deceleration change.

[0, 100] (0.01)0.5m/s^3
RDD_P_ANG_VEL (FLOAT)Proportional gain for angular velocity controller [0, 100] (0.01)1
RDD_P_HEADING (FLOAT)Proportional gain for heading controller [0, 100] (0.01)1
RDD_P_SPEED (FLOAT)Proportional gain for speed controller [0, 100] (0.01)1
RDD_SPEED_SCALE (FLOAT)Manual speed scale [0, 1] (0.01)1
RDD_WHEEL_BASE (FLOAT)Wheel base

Comment: Distance from the center of the right wheel to the center of the left wheel

[0.001, 100] (0.001)0.5m
RDD_WHEEL_RADIUS (FLOAT)Wheel radius

Comment: Size of the wheel, half the diameter of the wheel

[0.001, 100] (0.001)0.1m
RDD_WHEEL_SPEED (FLOAT)Maximum wheel speed [0, 100] (0.01)0.3rad/s

Rover Position Control ​

名称参数描述[Min, Max] (Incr.)默认值单位
GND_L1_DAMPING (FLOAT)L1 damping

Comment: Damping factor for L1 control.

[0.6, 0.9] (0.05)0.75
GND_L1_DIST (FLOAT)L1 distance

Comment: This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).

[1.0, 50.0] (0.1)1.0m
GND_L1_PERIOD (FLOAT)L1 period

Comment: This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.

[0.5, 50.0] (0.5)5.0m
GND_MAN_Y_MAX (FLOAT)Max manual yaw rate [0.0, 400] 150.0deg/s
GND_MAX_ANG (FLOAT)Maximum turn angle for Ackerman steering

Comment: At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.

[0.0, 3.14159] (0.01)0.7854rad
GND_SPEED_D (FLOAT)Speed proportional gain

Comment: This is the derivative gain for the speed closed loop controller

[0.00, 50.0] (0.005)0.001%m/s
GND_SPEED_I (FLOAT)Speed Integral gain

Comment: This is the integral gain for the speed closed loop controller

[0.00, 50.0] (0.005)3.0%m/s
GND_SPEED_IMAX (FLOAT)Speed integral maximum value

Comment: This is the maxim value the integral can reach to prevent wind-up.

[0.005, 50.0] (0.005)1.0%m/s
GND_SPEED_MAX (FLOAT)Maximum ground speed [0.0, 40] (0.5)10.0m/s
GND_SPEED_P (FLOAT)Speed proportional gain

Comment: This is the proportional gain for the speed closed loop controller

[0.005, 50.0] (0.005)2.0%m/s
GND_SPEED_THR_SC (FLOAT)Speed to throttle scaler

Comment: This is a gain to map the speed control output to the throttle linearly.

[0.005, 50.0] (0.005)1.0%m/s
GND_SPEED_TRIM (FLOAT)Trim ground speed [0.0, 40] (0.5)3.0m/s
GND_SP_CTRL_MODE (INT32)Control mode for speed

Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed

参数对照:
  • 0: open loop control
  • 1: close the loop with gps speed
[0, 1] 1
GND_THR_CRUISE (FLOAT)Cruise throttle

Comment: This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode

[0.0, 1.0] (0.01)0.1norm
GND_THR_MAX (FLOAT)Throttle limit max

Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough

[0.0, 1.0] (0.01)0.3norm
GND_THR_MIN (FLOAT)Throttle limit min

Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover

[0.0, 1.0] (0.01)0.0norm
GND_WHEEL_BASE (FLOAT)Distance from front axle to rear axle

Comment: A value of 0.31 is typical for 1/10 RC cars.

[0.0, ?] (0.01)0.31m

Runway Takeoff ​

名称参数描述[Min, Max] (Incr.)默认值单位
RWTO_HDG (INT32)Specifies which heading should be held during the runway takeoff ground roll

Comment: 0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)

参数对照:
  • 0: Airframe
  • 1: Runway
[0, 1] 0
RWTO_MAX_THR (FLOAT)Max throttle during runway takeoff [0.0, 1.0] (0.01)1.0norm
RWTO_NPFG_PERIOD (FLOAT)NPFG period while steering on runway [1.0, 100.0] (0.1)5.0s
RWTO_NUDGE (INT32)Enable use of yaw stick for nudging the wheel during runway ground roll

Comment: This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.

Enabled (1)
RWTO_PSP (FLOAT)Pitch setpoint during taxi / before takeoff rotation airspeed is reached

Comment: A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.

[-10.0, 20.0] (0.5)0.0deg
RWTO_RAMP_TIME (FLOAT)Throttle ramp up time for runway takeoff [1.0, 15.0] (0.1)2.0s
RWTO_ROT_AIRSPD (FLOAT)Takeoff rotation airspeed

Comment: The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)

[-1.0, ?] (0.1)-1.0m/s
RWTO_ROT_TIME (FLOAT)Takeoff rotation time

Comment: This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation

[0.1, ?] (0.1)1.0s
RWTO_TKOFF (INT32)Runway takeoff with landing gear Disabled (0)

SD Logging ​

名称参数描述[Min, Max] (Incr.)默认值单位
SDLOG_ALGORITHM (INT32)Logfile Encryption algorithm

Comment: Selects the algorithm used for logfile encryption

参数对照:
  • 0: Disabled
  • 2: XChaCha20
  • 3: AES
2
SDLOG_BOOT_BAT (INT32)Battery-only Logging

Comment: When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.

Disabled (0)
SDLOG_DIRS_MAX (INT32)Maximum number of log directories to keep

Comment: If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.

Reboot required: true

[0, 1000] 0
SDLOG_EXCH_KEY (INT32)Logfile Encryption key exchange key

Comment: If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.

[0, 255] 1
SDLOG_KEY (INT32)Logfile Encryption key index

Comment: Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY

[0, 255] 2
SDLOG_MISSION (INT32)Mission Log

Comment: If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).

参数对照:
  • 0: Disabled
  • 1: All mission messages
  • 2: Geotagging messages

Reboot required: true

0
SDLOG_MODE (INT32)Logging Mode

Comment: Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.

Values:
  • -1: disabled
  • 0: when armed until disarm (default)
  • 1: from boot until disarm
  • 2: from boot until shutdown
  • 3: depending on AUX1 RC channel
  • 4: from 1st armed until shutdown

Reboot required: true

0
SDLOG_PROFILE (INT32)Logging topic profile (integer bitmask)

Comment: This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)

Bitmask:
  • 0: Default set (general log analysis)
  • 1: Estimator replay (EKF2)
  • 2: Thermal calibration
  • 3: System identification
  • 4: High rate
  • 5: Debug
  • 6: Sensor comparison
  • 7: Computer Vision and Avoidance
  • 8: Raw FIFO high-rate IMU (Gyro)
  • 9: Raw FIFO high-rate IMU (Accel)
  • 10: Mavlink tunnel message logging

Reboot required: true

[0, 2047] 1
SDLOG_UTC_OFFSET (INT32)UTC offset (unit: min)

Comment: the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets

[-1000, 1000] 0min
SDLOG_UUID (INT32)Log UUID

Comment: If set to 1, add an ID to the log, which uniquely identifies the vehicle

Enabled (1)

SITL ​

名称参数描述[Min, Max] (Incr.)默认值单位
SIM_BAT_DRAIN (FLOAT)Simulator Battery drain interval [1, 86400] (1)60s
SIM_BAT_ENABLE (INT32)Simulator Battery enabled

Comment: Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.

Enabled (1)
SIM_BAT_MIN_PCT (FLOAT)Simulator Battery minimal percentage

Comment: Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.

[0, 100] (0.1)50.0%

Sensor Calibration ​

名称参数描述[Min, Max] (Incr.)默认值单位
CAL_ACC0_ID (INT32)Accelerometer 0 calibration device ID

Comment: Device ID of the accelerometer this calibration applies to.

0
CAL_ACC0_PRIO (INT32)Accelerometer 0 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_ACC0_ROT (INT32)Accelerometer 0 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_ACC0_XOFF (FLOAT)Accelerometer 0 X-axis offset 0.0m/s^2
CAL_ACC0_XSCALE (FLOAT)Accelerometer 0 X-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC0_YOFF (FLOAT)Accelerometer 0 Y-axis offset 0.0m/s^2
CAL_ACC0_YSCALE (FLOAT)Accelerometer 0 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC0_ZOFF (FLOAT)Accelerometer 0 Z-axis offset 0.0m/s^2
CAL_ACC0_ZSCALE (FLOAT)Accelerometer 0 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC1_ID (INT32)Accelerometer 1 calibration device ID

Comment: Device ID of the accelerometer this calibration applies to.

0
CAL_ACC1_PRIO (INT32)Accelerometer 1 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_ACC1_ROT (INT32)Accelerometer 1 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_ACC1_XOFF (FLOAT)Accelerometer 1 X-axis offset 0.0m/s^2
CAL_ACC1_XSCALE (FLOAT)Accelerometer 1 X-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC1_YOFF (FLOAT)Accelerometer 1 Y-axis offset 0.0m/s^2
CAL_ACC1_YSCALE (FLOAT)Accelerometer 1 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC1_ZOFF (FLOAT)Accelerometer 1 Z-axis offset 0.0m/s^2
CAL_ACC1_ZSCALE (FLOAT)Accelerometer 1 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC2_ID (INT32)Accelerometer 2 calibration device ID

Comment: Device ID of the accelerometer this calibration applies to.

0
CAL_ACC2_PRIO (INT32)Accelerometer 2 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_ACC2_ROT (INT32)Accelerometer 2 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_ACC2_XOFF (FLOAT)Accelerometer 2 X-axis offset 0.0m/s^2
CAL_ACC2_XSCALE (FLOAT)Accelerometer 2 X-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC2_YOFF (FLOAT)Accelerometer 2 Y-axis offset 0.0m/s^2
CAL_ACC2_YSCALE (FLOAT)Accelerometer 2 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC2_ZOFF (FLOAT)Accelerometer 2 Z-axis offset 0.0m/s^2
CAL_ACC2_ZSCALE (FLOAT)Accelerometer 2 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC3_ID (INT32)Accelerometer 3 calibration device ID

Comment: Device ID of the accelerometer this calibration applies to.

0
CAL_ACC3_PRIO (INT32)Accelerometer 3 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_ACC3_ROT (INT32)Accelerometer 3 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_ACC3_XOFF (FLOAT)Accelerometer 3 X-axis offset 0.0m/s^2
CAL_ACC3_XSCALE (FLOAT)Accelerometer 3 X-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC3_YOFF (FLOAT)Accelerometer 3 Y-axis offset 0.0m/s^2
CAL_ACC3_YSCALE (FLOAT)Accelerometer 3 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_ACC3_ZOFF (FLOAT)Accelerometer 3 Z-axis offset 0.0m/s^2
CAL_ACC3_ZSCALE (FLOAT)Accelerometer 3 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_BARO0_ID (INT32)Barometer 0 calibration device ID

Comment: Device ID of the barometer this calibration applies to.

0
CAL_BARO0_OFF (FLOAT)Barometer 0 offset 0.0
CAL_BARO0_PRIO (INT32)Barometer 0 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_BARO1_ID (INT32)Barometer 1 calibration device ID

Comment: Device ID of the barometer this calibration applies to.

0
CAL_BARO1_OFF (FLOAT)Barometer 1 offset 0.0
CAL_BARO1_PRIO (INT32)Barometer 1 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_BARO2_ID (INT32)Barometer 2 calibration device ID

Comment: Device ID of the barometer this calibration applies to.

0
CAL_BARO2_OFF (FLOAT)Barometer 2 offset 0.0
CAL_BARO2_PRIO (INT32)Barometer 2 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_BARO3_ID (INT32)Barometer 3 calibration device ID

Comment: Device ID of the barometer this calibration applies to.

0
CAL_BARO3_OFF (FLOAT)Barometer 3 offset 0.0
CAL_BARO3_PRIO (INT32)Barometer 3 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_GYRO0_ID (INT32)Gyroscope 0 calibration device ID

Comment: Device ID of the gyroscope this calibration applies to.

0
CAL_GYRO0_PRIO (INT32)Gyroscope 0 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_GYRO0_ROT (INT32)Gyroscope 0 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_GYRO0_XOFF (FLOAT)Gyroscope 0 X-axis offset 0.0rad/s
CAL_GYRO0_YOFF (FLOAT)Gyroscope 0 Y-axis offset 0.0rad/s
CAL_GYRO0_ZOFF (FLOAT)Gyroscope 0 Z-axis offset 0.0rad/s
CAL_GYRO1_ID (INT32)Gyroscope 1 calibration device ID

Comment: Device ID of the gyroscope this calibration applies to.

0
CAL_GYRO1_PRIO (INT32)Gyroscope 1 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_GYRO1_ROT (INT32)Gyroscope 1 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_GYRO1_XOFF (FLOAT)Gyroscope 1 X-axis offset 0.0rad/s
CAL_GYRO1_YOFF (FLOAT)Gyroscope 1 Y-axis offset 0.0rad/s
CAL_GYRO1_ZOFF (FLOAT)Gyroscope 1 Z-axis offset 0.0rad/s
CAL_GYRO2_ID (INT32)Gyroscope 2 calibration device ID

Comment: Device ID of the gyroscope this calibration applies to.

0
CAL_GYRO2_PRIO (INT32)Gyroscope 2 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_GYRO2_ROT (INT32)Gyroscope 2 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_GYRO2_XOFF (FLOAT)Gyroscope 2 X-axis offset 0.0rad/s
CAL_GYRO2_YOFF (FLOAT)Gyroscope 2 Y-axis offset 0.0rad/s
CAL_GYRO2_ZOFF (FLOAT)Gyroscope 2 Z-axis offset 0.0rad/s
CAL_GYRO3_ID (INT32)Gyroscope 3 calibration device ID

Comment: Device ID of the gyroscope this calibration applies to.

0
CAL_GYRO3_PRIO (INT32)Gyroscope 3 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_GYRO3_ROT (INT32)Gyroscope 3 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.

Values:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
[-1, 40] -1
CAL_GYRO3_XOFF (FLOAT)Gyroscope 3 X-axis offset 0.0rad/s
CAL_GYRO3_YOFF (FLOAT)Gyroscope 3 Y-axis offset 0.0rad/s
CAL_GYRO3_ZOFF (FLOAT)Gyroscope 3 Z-axis offset 0.0rad/s
CAL_MAG0_ID (INT32)Magnetometer 0 calibration device ID

Comment: Device ID of the magnetometer this calibration applies to.

0
CAL_MAG0_PITCH (FLOAT)Magnetometer 0 Custom Euler Pitch Angle

Comment: Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG0_PRIO (INT32)Magnetometer 0 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_MAG0_ROLL (FLOAT)Magnetometer 0 Custom Euler Roll Angle

Comment: Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG0_ROT (INT32)Magnetometer 0 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
  • 100: Custom Euler Angle
[-1, 100] -1
CAL_MAG0_XCOMP (FLOAT)Magnetometer 0 X Axis throttle compensation

Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG0_XODIAG (FLOAT)Magnetometer 0 X-axis off diagonal scale factor 0.0
CAL_MAG0_XOFF (FLOAT)Magnetometer 0 X-axis offset 0.0gauss
CAL_MAG0_XSCALE (FLOAT)Magnetometer 0 X-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG0_YAW (FLOAT)Magnetometer 0 Custom Euler Yaw Angle

Comment: Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG0_YCOMP (FLOAT)Magnetometer 0 Y Axis throttle compensation

Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG0_YODIAG (FLOAT)Magnetometer 0 Y-axis off diagonal scale factor 0.0
CAL_MAG0_YOFF (FLOAT)Magnetometer 0 Y-axis offset 0.0gauss
CAL_MAG0_YSCALE (FLOAT)Magnetometer 0 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG0_ZCOMP (FLOAT)Magnetometer 0 Z Axis throttle compensation

Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG0_ZODIAG (FLOAT)Magnetometer 0 Z-axis off diagonal scale factor 0.0
CAL_MAG0_ZOFF (FLOAT)Magnetometer 0 Z-axis offset 0.0gauss
CAL_MAG0_ZSCALE (FLOAT)Magnetometer 0 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG1_ID (INT32)Magnetometer 1 calibration device ID

Comment: Device ID of the magnetometer this calibration applies to.

0
CAL_MAG1_PITCH (FLOAT)Magnetometer 1 Custom Euler Pitch Angle

Comment: Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG1_PRIO (INT32)Magnetometer 1 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_MAG1_ROLL (FLOAT)Magnetometer 1 Custom Euler Roll Angle

Comment: Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG1_ROT (INT32)Magnetometer 1 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
  • 100: Custom Euler Angle
[-1, 100] -1
CAL_MAG1_XCOMP (FLOAT)Magnetometer 1 X Axis throttle compensation

Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG1_XODIAG (FLOAT)Magnetometer 1 X-axis off diagonal scale factor 0.0
CAL_MAG1_XOFF (FLOAT)Magnetometer 1 X-axis offset 0.0gauss
CAL_MAG1_XSCALE (FLOAT)Magnetometer 1 X-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG1_YAW (FLOAT)Magnetometer 1 Custom Euler Yaw Angle

Comment: Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG1_YCOMP (FLOAT)Magnetometer 1 Y Axis throttle compensation

Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG1_YODIAG (FLOAT)Magnetometer 1 Y-axis off diagonal scale factor 0.0
CAL_MAG1_YOFF (FLOAT)Magnetometer 1 Y-axis offset 0.0gauss
CAL_MAG1_YSCALE (FLOAT)Magnetometer 1 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG1_ZCOMP (FLOAT)Magnetometer 1 Z Axis throttle compensation

Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG1_ZODIAG (FLOAT)Magnetometer 1 Z-axis off diagonal scale factor 0.0
CAL_MAG1_ZOFF (FLOAT)Magnetometer 1 Z-axis offset 0.0gauss
CAL_MAG1_ZSCALE (FLOAT)Magnetometer 1 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG2_ID (INT32)Magnetometer 2 calibration device ID

Comment: Device ID of the magnetometer this calibration applies to.

0
CAL_MAG2_PITCH (FLOAT)Magnetometer 2 Custom Euler Pitch Angle

Comment: Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG2_PRIO (INT32)Magnetometer 2 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_MAG2_ROLL (FLOAT)Magnetometer 2 Custom Euler Roll Angle

Comment: Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG2_ROT (INT32)Magnetometer 2 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.

Values:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
  • 100: Custom Euler Angle
[-1, 100] -1
CAL_MAG2_XCOMP (FLOAT)Magnetometer 2 X Axis throttle compensation

Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG2_XODIAG (FLOAT)Magnetometer 2 X-axis off diagonal scale factor 0.0
CAL_MAG2_XOFF (FLOAT)Magnetometer 2 X-axis offset 0.0gauss
CAL_MAG2_XSCALE (FLOAT)Magnetometer 2 X-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG2_YAW (FLOAT)Magnetometer 2 Custom Euler Yaw Angle

Comment: Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG2_YCOMP (FLOAT)Magnetometer 2 Y Axis throttle compensation

Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG2_YODIAG (FLOAT)Magnetometer 2 Y-axis off diagonal scale factor 0.0
CAL_MAG2_YOFF (FLOAT)Magnetometer 2 Y-axis offset 0.0gauss
CAL_MAG2_YSCALE (FLOAT)Magnetometer 2 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG2_ZCOMP (FLOAT)Magnetometer 2 Z Axis throttle compensation

Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG2_ZODIAG (FLOAT)Magnetometer 2 Z-axis off diagonal scale factor 0.0
CAL_MAG2_ZOFF (FLOAT)Magnetometer 2 Z-axis offset 0.0gauss
CAL_MAG2_ZSCALE (FLOAT)Magnetometer 2 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG3_ID (INT32)Magnetometer 3 calibration device ID

Comment: Device ID of the magnetometer this calibration applies to.

0
CAL_MAG3_PITCH (FLOAT)Magnetometer 3 Custom Euler Pitch Angle

Comment: Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG3_PRIO (INT32)Magnetometer 3 priority Values:
  • -1: Uninitialized
  • 0: Disabled
  • 1: Min
  • 25: Low
  • 50: Medium (Default)
  • 75: High
  • 100: Max
-1
CAL_MAG3_ROLL (FLOAT)Magnetometer 3 Custom Euler Roll Angle

Comment: Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG3_ROT (INT32)Magnetometer 3 rotation relative to airframe

Comment: An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.

参数对照:
  • -1: Internal
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°
  • 100: Custom Euler Angle
[-1, 100] -1
CAL_MAG3_XCOMP (FLOAT)Magnetometer 3 X Axis throttle compensation

Comment: Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG3_XODIAG (FLOAT)Magnetometer 3 X-axis off diagonal scale factor 0.0
CAL_MAG3_XOFF (FLOAT)Magnetometer 3 X-axis offset 0.0gauss
CAL_MAG3_XSCALE (FLOAT)Magnetometer 3 X-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG3_YAW (FLOAT)Magnetometer 3 Custom Euler Yaw Angle

Comment: Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"

[-180, 180] 0.0deg
CAL_MAG3_YCOMP (FLOAT)Magnetometer 3 Y Axis throttle compensation

Comment: Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG3_YODIAG (FLOAT)Magnetometer 3 Y-axis off diagonal scale factor 0.0
CAL_MAG3_YOFF (FLOAT)Magnetometer 3 Y-axis offset 0.0gauss
CAL_MAG3_YSCALE (FLOAT)Magnetometer 3 Y-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG3_ZCOMP (FLOAT)Magnetometer 3 Z Axis throttle compensation

Comment: Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]

0.0
CAL_MAG3_ZODIAG (FLOAT)Magnetometer 3 Z-axis off diagonal scale factor 0.0
CAL_MAG3_ZOFF (FLOAT)Magnetometer 3 Z-axis offset 0.0gauss
CAL_MAG3_ZSCALE (FLOAT)Magnetometer 3 Z-axis scaling factor [0.1, 3.0] 1.0
CAL_MAG_COMP_TYP (INT32)Type of magnetometer compensation Values:
  • 0: Disabled
  • 1: Throttle-based compensation
  • 2: Current-based compensation (battery_status instance 0)
  • 3: Current-based compensation (battery_status instance 1)
0
SENS_DPRES_ANSC (FLOAT)Differential pressure sensor analog scaling

Comment: Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.

0
SENS_DPRES_OFF (FLOAT)Differential pressure sensor offset

Comment: The offset (zero-reading) in Pascal

0.0
SENS_FLOW_MAXHGT (FLOAT)Maximum height above ground when reliant on optical flow

Comment: This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.

[1.0, 100.0] (0.1)100.m
SENS_FLOW_MAXR (FLOAT)Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor

Comment: Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.

[1.0, ?] 8.rad/s
SENS_FLOW_MINHGT (FLOAT)Minimum height above ground when reliant on optical flow

Comment: This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.

[0.0, 1.0] (0.1)0.08m

Sensors ​

名称参数描述[Min, Max] (Incr.)默认值单位
ADC_ADS1115_EN (INT32)Enable external ADS1115 ADC

Comment: If enabled, the internal ADC is not used.

Reboot required: true

Disabled (0)
BAT1_C_MULT (FLOAT)Capacity/current multiplier for high-current capable SMBUS battery

Reboot required: true

1.0
BAT1_SMBUS_MODEL (INT32)Battery device model Values:
  • 0: AutoDetect
  • 1: BQ40Z50 based
  • 2: BQ40Z80 based

Reboot required: true

[0, 2] 0
BATMON_ADDR_DFLT (INT32)I2C address for BatMon battery 1

Reboot required: true

11
BATMON_DRIVER_EN (INT32)Parameter to enable BatMon module Values:
  • 0: Disabled
  • 1: Start on default I2C addr(BATMON_ADDR_DFLT)
  • 2: Autodetect I2C address (TODO)

Reboot required: true

[0, 2] 0
CAL_AIR_CMODEL (INT32)Airspeed sensor compensation model for the SDP3x

Comment: Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.

参数对照:
  • 0: Model with Pitot
  • 1: Model without Pitot (1.5 mm tubes)
  • 2: Tube Pressure Drop
0
CAL_AIR_TUBED_MM (FLOAT)Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation [1.5, 100] 1.5mm
CAL_AIR_TUBELEN (FLOAT)Airspeed sensor tube length

Comment: See the CAL_AIR_CMODEL explanation on how this parameter should be set.

[0.01, 2.00] 0.2m
CAL_MAG_SIDES (INT32)For legacy QGC support only

Comment: Use SENS_MAG_SIDES instead

63
IMU_ACCEL_CUTOFF (FLOAT)Low pass filter cutoff frequency for accel

Comment: The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.

Reboot required: true

[0, 1000] 30.0Hz
IMU_DGYRO_CUTOFF (FLOAT)Cutoff frequency for angular acceleration (D-Term filter)

Comment: The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.

Reboot required: true

[0, 1000] 30.0Hz
IMU_GYRO_CAL_EN (INT32)IMU gyro auto calibration enable

Reboot required: true

Enabled (1)
IMU_GYRO_CUTOFF (FLOAT)Low pass filter cutoff frequency for gyro

Comment: The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.

Reboot required: true

[0, 1000] 40.0Hz
IMU_GYRO_DNF_BW (FLOAT)IMU gyro ESC notch filter bandwidth

Comment: Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.

[5, 30] 15.Hz
IMU_GYRO_DNF_EN (INT32)IMU gyro dynamic notch filtering

Comment: Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).

Bitmask:
  • 0: ESC RPM
  • 1: FFT
[0, 3] 0
IMU_GYRO_DNF_HMC (INT32)IMU gyro dynamic notch filter harmonics

Comment: ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.

[1, 7] 3
IMU_GYRO_DNF_MIN (FLOAT)IMU gyro dynamic notch filter minimum frequency

Comment: Minimum notch filter frequency in Hz.

25.Hz
IMU_GYRO_FFT_EN (INT32)IMU gyro FFT enable

Reboot required: true

Disabled (0)
IMU_GYRO_FFT_LEN (INT32)IMU gyro FFT length Values:
  • 256: 256
  • 512: 512
  • 1024: 1024
  • 4096: 4096

Reboot required: true

512Hz
IMU_GYRO_FFT_MAX (FLOAT)IMU gyro FFT maximum frequency

Reboot required: true

[1, 1000] 150.Hz
IMU_GYRO_FFT_MIN (FLOAT)IMU gyro FFT minimum frequency

Reboot required: true

[1, 1000] 30.Hz
IMU_GYRO_FFT_SNR (FLOAT)IMU gyro FFT SNR [1, 30] 10.
IMU_GYRO_NF0_BW (FLOAT)Notch filter bandwidth for gyro

Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

Reboot required: true

[0, 100] 20.0Hz
IMU_GYRO_NF0_FRQ (FLOAT)Notch filter frequency for gyro

Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

Reboot required: true

[0, 1000] 0.0Hz
IMU_GYRO_NF1_BW (FLOAT)Notch filter 1 bandwidth for gyro

Comment: The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.

Reboot required: true

[0, 100] 20.0Hz
IMU_GYRO_NF1_FRQ (FLOAT)Notch filter 2 frequency for gyro

Comment: The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.

Reboot required: true

[0, 1000] 0.0Hz
IMU_GYRO_RATEMAX (INT32)Gyro control data maximum publication rate (inner loop rate)

Comment: The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.

参数对照:
  • 100: 100 Hz
  • 250: 250 Hz
  • 400: 400 Hz
  • 800: 800 Hz
  • 1000: 1000 Hz
  • 2000: 2000 Hz

Reboot required: true

[100, 2000] 400Hz
IMU_INTEG_RATE (INT32)IMU integration rate

Comment: The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).

参数对照:
  • 100: 100 Hz
  • 200: 200 Hz
  • 250: 250 Hz
  • 400: 400 Hz

Reboot required: true

[100, 1000] 200Hz
INA220_CONFIG (INT32)INA220 Power Monitor Config [0, 65535] (1)8607
INA220_CUR_BAT (FLOAT)INA220 Power Monitor Battery Max Current [0.1, 500.0] (0.1)164.0
INA220_CUR_REG (FLOAT)INA220 Power Monitor Regulator Max Current [0.1, 500.0] (0.1)164.0
INA220_SHUNT_BAT (FLOAT)INA220 Power Monitor Battery Shunt [0.000000001, 0.1] (.000000001)0.0005
INA220_SHUNT_REG (FLOAT)INA220 Power Monitor Regulator Shunt [0.000000001, 0.1] (.000000001)0.0005
INA226_CONFIG (INT32)INA226 Power Monitor Config [0, 65535] (1)18139
INA226_CURRENT (FLOAT)INA226 Power Monitor Max Current [0.1, 200.0] (0.1)164.0
INA226_SHUNT (FLOAT)INA226 Power Monitor Shunt [0.000000001, 0.1] (.000000001)0.0005
INA228_CONFIG (INT32)INA228 Power Monitor Config [0, 65535] (1)63779
INA228_CURRENT (FLOAT)INA228 Power Monitor Max Current [0.1, 327.68] (0.1)327.68
INA228_SHUNT (FLOAT)INA228 Power Monitor Shunt [0.000000001, 0.1] (.000000001)0.0005
INA238_CURRENT (FLOAT)INA238 Power Monitor Max Current [0.1, 327.68] (0.1)327.68
INA238_SHUNT (FLOAT)INA238 Power Monitor Shunt [0.000000001, 0.1] (.000000001)0.0003
PCF8583_MAGNET (INT32)PCF8583 rotorfreq (i2c) pulse count

Comment: Nmumber of signals per rotation of actuator

Reboot required: true

[1, ?] 2
PCF8583_POOL (INT32)PCF8583 rotorfreq (i2c) pool interval

Comment: Determines how often the sensor is read out.

Reboot required: true

1000000µs
PCF8583_RESET (INT32)PCF8583 rotorfreq (i2c) pulse reset value

Comment: Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.

Reboot required: true

500000
SENS_AFBR_HYSTER (INT32)AFBR Rangefinder Short/Long Range Threshold Hysteresis

Comment: This parameter defines the hysteresis for switching between short and long range mode.

[1, 10] 1m
SENS_AFBR_L_RATE (INT32)AFBR Rangefinder Long Range Rate

Comment: This parameter defines measurement rate of the AFBR Rangefinder in long range mode.

[1, 100] 25
SENS_AFBR_MODE (INT32)AFBR Rangefinder Mode

Comment: This parameter defines the mode of the AFBR Rangefinder.

参数对照:
  • 0: Short Range Mode
  • 1: Long Range Mode
  • 2: High Speed Short Range Mode
  • 3: High Speed Long Range Mode

Reboot required: true

[0, 3] 0
SENS_AFBR_S_RATE (INT32)AFBR Rangefinder Short Range Rate

Comment: This parameter defines measurement rate of the AFBR Rangefinder in short range mode.

[1, 100] 50
SENS_AFBR_THRESH (INT32)AFBR Rangefinder Short/Long Range Threshold

Comment: This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.

[1, 50] 4m
SENS_BARO_QNH (FLOAT)QNH for barometer [500, 1500] 1013.25hPa
SENS_BARO_RATE (FLOAT)Baro max rate

Comment: Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.

[1, 200] 20.0Hz
SENS_BOARD_ROT (INT32)Board rotation

Comment: This parameter defines the rotation of the FMU board relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
  • 8: Roll 180°
  • 9: Roll 180°, Yaw 45°
  • 10: Roll 180°, Yaw 90°
  • 11: Roll 180°, Yaw 135°
  • 12: Pitch 180°
  • 13: Roll 180°, Yaw 225°
  • 14: Roll 180°, Yaw 270°
  • 15: Roll 180°, Yaw 315°
  • 16: Roll 90°
  • 17: Roll 90°, Yaw 45°
  • 18: Roll 90°, Yaw 90°
  • 19: Roll 90°, Yaw 135°
  • 20: Roll 270°
  • 21: Roll 270°, Yaw 45°
  • 22: Roll 270°, Yaw 90°
  • 23: Roll 270°, Yaw 135°
  • 24: Pitch 90°
  • 25: Pitch 270°
  • 26: Pitch 180°, Yaw 90°
  • 27: Pitch 180°, Yaw 270°
  • 28: Roll 90°, Pitch 90°
  • 29: Roll 180°, Pitch 90°
  • 30: Roll 270°, Pitch 90°
  • 31: Roll 90°, Pitch 180°
  • 32: Roll 270°, Pitch 180°
  • 33: Roll 90°, Pitch 270°
  • 34: Roll 180°, Pitch 270°
  • 35: Roll 270°, Pitch 270°
  • 36: Roll 90°, Pitch 180°, Yaw 90°
  • 37: Roll 90°, Yaw 270°
  • 38: Roll 90°, Pitch 68°, Yaw 293°
  • 39: Pitch 315°
  • 40: Roll 90°, Pitch 315°

Reboot required: true

[-1, 40] 0
SENS_BOARD_X_OFF (FLOAT)Board rotation X (Roll) offset

Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.

0.0deg
SENS_BOARD_Y_OFF (FLOAT)Board rotation Y (Pitch) offset

Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.

0.0deg
SENS_BOARD_Z_OFF (FLOAT)Board rotation Z (YAW) offset

Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.

0.0deg
SENS_CM8JL65_CFG (INT32)Serial Configuration for Lanbao PSK-CM8JL65-CC5

Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_CM8JL65_R_0 (INT32)Distance Sensor Rotation

Comment: Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum

参数对照:
  • 0: ROTATION_FORWARD_FACING
  • 2: ROTATION_RIGHT_FACING
  • 6: ROTATION_LEFT_FACING
  • 12: ROTATION_BACKWARD_FACING
  • 24: ROTATION_UPWARD_FACING
  • 25: ROTATION_DOWNWARD_FACING

Reboot required: True

25
SENS_EN_ADIS164X (INT32)Analog Devices ADIS16448 IMU (external SPI) Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_ADIS165X (INT32)Analog Devices ADIS16507 IMU (external SPI)

Reboot required: true

Disabled (0)
SENS_EN_ARSPDSIM (INT32)Enable simulated airspeed sensor instance Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_ASP5033 (INT32)ASP5033 differential pressure sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_BAROSIM (INT32)Enable simulated barometer sensor instance Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_BATT (INT32)SMBUS Smart battery driver BQ40Z50 and BQ40Z80

Reboot required: true

Disabled (0)
SENS_EN_ETSASPD (INT32)Eagle Tree airspeed sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_GPSSIM (INT32)Enable simulated GPS sinstance Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_INA220 (INT32)Enable INA220 Power Monitor

Comment: For systems a INA220 Power Monitor, this should be set to true

Reboot required: true

Disabled (0)
SENS_EN_INA226 (INT32)Enable INA226 Power Monitor

Comment: For systems a INA226 Power Monitor, this should be set to true

Reboot required: true

Disabled (0)
SENS_EN_INA228 (INT32)Enable INA228 Power Monitor

Comment: For systems a INA228 Power Monitor, this should be set to true

Reboot required: true

Disabled (0)
SENS_EN_INA238 (INT32)Enable INA238 Power Monitor

Comment: For systems a INA238 Power Monitor, this should be set to true

Reboot required: true

Disabled (0)
SENS_EN_IRLOCK (INT32)IR-LOCK Sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_LL40LS (INT32)Lidar-Lite (LL40LS) Values:
  • 0: Disabled
  • 1: PWM
  • 2: I2C

Reboot required: true

[0, 2] 0
SENS_EN_MAGSIM (INT32)Enable simulated magnetometer sensor instance Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_MB12XX (INT32)Maxbotix Sonar (mb12xx)

Reboot required: true

Disabled (0)
SENS_EN_MPDT (INT32)Enable Mappydot rangefinder (i2c) Values:
  • 0: Disabled
  • 1: Autodetect

Reboot required: true

[0, 1] 0
SENS_EN_MS4515 (INT32)TE MS4515 differential pressure sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_MS4525DO (INT32)TE MS4525DO differential pressure sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_MS5525DS (INT32)TE MS5525DSO differential pressure sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_PAA3905 (INT32)PAA3905 Optical Flow

Reboot required: true

Disabled (0)
SENS_EN_PAW3902 (INT32)PAW3902/PAW3903 Optical Flow

Reboot required: true

Disabled (0)
SENS_EN_PCF8583 (INT32)PCF8583 eneable driver

Comment: Run PCF8583 driver automatically

Values:
  • 0: Disabled
  • 1: Eneabled

Reboot required: true

[0, 1] 0
SENS_EN_PGA460 (INT32)PGA460 Ultrasonic driver (PGA460)

Reboot required: true

Disabled (0)
SENS_EN_PMW3901 (INT32)PMW3901 Optical Flow

Reboot required: true

Disabled (0)
SENS_EN_PX4FLOW (INT32)PX4 Flow Optical Flow

Reboot required: true

Disabled (0)
SENS_EN_SCH16T (INT32)Murata SCH16T IMU (external SPI) Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
SENS_EN_SDP3X (INT32)Sensirion SDP3X differential pressure sensor (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_SF0X (INT32)Lightware Laser Rangefinder hardware model (serial) Values:
  • 1: SF02
  • 2: SF10/a
  • 3: SF10/b
  • 4: SF10/c
  • 5: SF11/c
  • 6: SF30/b
  • 7: SF30/c
  • 8: LW20/c

Reboot required: true

1
SENS_EN_SF1XX (INT32)Lightware SF1xx/SF20/LW20 laser rangefinder (i2c) Values:
  • 0: Disabled
  • 1: SF10/a
  • 2: SF10/b
  • 3: SF10/c
  • 4: SF11/c
  • 5: SF/LW20/b
  • 6: SF/LW20/c
  • 7: SF/LW30/d

Reboot required: true

[0, 6] 0
SENS_EN_SF45_CFG (INT32)Serial Configuration for Lightware SF45 Rangefinder (serial)

Comment: Configure on which serial port to run Lightware SF45 Rangefinder (serial).

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

102
SENS_EN_SHT3X (INT32)SHT3x temperature and hygrometer

Reboot required: true

Disabled (0)
SENS_EN_SPL06 (INT32)Goertek SPL06 Barometer (external I2C)

Reboot required: true

Disabled (0)
SENS_EN_SR05 (INT32)HY-SRF05 / HC-SR05

Reboot required: true

Disabled (0)
SENS_EN_TF02PRO (INT32)TF02 Pro Distance Sensor (i2c)

Reboot required: true

Disabled (0)
SENS_EN_THERMAL (INT32)Thermal control of sensor temperature Values:
  • -1: Thermal control unavailable
  • 0: Thermal control off
  • 1: Thermal control enabled
-1
SENS_EN_TRANGER (INT32)TeraRanger Rangefinder (i2c) Values:
  • 0: Disabled
  • 1: Autodetect
  • 2: TROne
  • 3: TREvo60m
  • 4: TREvo600Hz
  • 5: TREvo3m

Reboot required: true

[0, 3] 0
SENS_EN_VL53L0X (INT32)VL53L0X Distance Sensor

Reboot required: true

Disabled (0)
SENS_EN_VL53L1X (INT32)VL53L1X Distance Sensor

Reboot required: true

Disabled (0)
SENS_EXT_I2C_PRB (INT32)External I2C probe

Comment: Probe for optional external I2C devices.

Enabled (1)
SENS_FLOW_RATE (FLOAT)Optical flow max rate

Comment: Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.

Reboot required: true

[1, 200] 70.0Hz
SENS_FLOW_ROT (INT32)Optical flow rotation

Comment: This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°
0
SENS_FTX_CFG (INT32)Serial Configuration for FT Technologies Digital Wind Sensor (serial)

Comment: Configure on which serial port to run FT Technologies Digital Wind Sensor (serial).

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_GPS_MASK (INT32)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

Bitmask:
  • 0: use speed accuracy
  • 1: use hpos accuracy
  • 2: use vpos accuracy
[0, 7] 7
SENS_GPS_PRIME (INT32)Multi GPS primary instance

Comment: When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.

[-1, 1] 0
SENS_GPS_TAU (FLOAT)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.

[1.0, 100.0] 10.0s
SENS_IMU_AUTOCAL (INT32)IMU auto calibration

Comment: Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.

Enabled (1)
SENS_IMU_CLPNOTI (INT32)IMU notify clipping

Comment: Notify the user if the IMU is clipping

Enabled (1)
SENS_IMU_MODE (INT32)Sensors hub IMU mode Values:
  • 0: Disabled
  • 1: Publish primary IMU selection

Reboot required: true

1
SENS_IMU_TEMP (FLOAT)Target IMU temperature [0, 85.0] 55.0celcius
SENS_IMU_TEMP_FF (FLOAT)IMU heater controller feedforward value [0, 1.0] 0.05%
SENS_IMU_TEMP_I (FLOAT)IMU heater controller integrator gain value [0, 1.0] 0.025us/C
SENS_IMU_TEMP_P (FLOAT)IMU heater controller proportional gain value [0, 2.0] 1.0us/C
SENS_INT_BARO_EN (INT32)Enable internal barometers

Comment: For systems with an external barometer, this should be set to false to make sure that the external is used.

Reboot required: true

Enabled (1)
SENS_LEDDAR1_CFG (INT32)Serial Configuration for LeddarOne Rangefinder

Comment: Configure on which serial port to run LeddarOne Rangefinder.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_MAG_AUTOCAL (INT32)Magnetometer auto calibration

Comment: Automatically initialize magnetometer calibration from bias estimate if available.

Enabled (1)
SENS_MAG_AUTOROT (INT32)Automatically set external rotations

Comment: During calibration attempt to automatically determine the rotation of external magnetometers.

Enabled (1)
SENS_MAG_MODE (INT32)Sensors hub mag mode Values:
  • 0: Publish all magnetometers
  • 1: Publish primary magnetometer

Reboot required: true

1
SENS_MAG_RATE (FLOAT)Magnetometer max rate

Comment: Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.

Reboot required: true

[1, 200] 15.0Hz
SENS_MAG_SIDES (INT32)Bitfield selecting mag sides for calibration

Comment: If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32

Values:
  • 34: Two side calibration
  • 38: Three side calibration
  • 63: Six side calibration
[34, 63] 63
SENS_MB12_0_ROT (INT32)MaxBotix MB12XX Sensor 0 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_10_ROT (INT32)MaxBotix MB12XX Sensor 10 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_11_ROT (INT32)MaxBotix MB12XX Sensor 12 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_1_ROT (INT32)MaxBotix MB12XX Sensor 1 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_2_ROT (INT32)MaxBotix MB12XX Sensor 2 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_3_ROT (INT32)MaxBotix MB12XX Sensor 3 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_4_ROT (INT32)MaxBotix MB12XX Sensor 4 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_5_ROT (INT32)MaxBotix MB12XX Sensor 5 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_6_ROT (INT32)MaxBotix MB12XX Sensor 6 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_7_ROT (INT32)MaxBotix MB12XX Sensor 7 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_8_ROT (INT32)MaxBotix MB12XX Sensor 8 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MB12_9_ROT (INT32)MaxBotix MB12XX Sensor 9 Rotation

Comment: This parameter defines the rotation of the sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT0_ROT (INT32)MappyDot Sensor 0 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT10_ROT (INT32)MappyDot Sensor 10 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT11_ROT (INT32)MappyDot Sensor 12 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT1_ROT (INT32)MappyDot Sensor 1 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT2_ROT (INT32)MappyDot Sensor 2 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT3_ROT (INT32)MappyDot Sensor 3 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT4_ROT (INT32)MappyDot Sensor 4 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT5_ROT (INT32)MappyDot Sensor 5 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT6_ROT (INT32)MappyDot Sensor 6 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT7_ROT (INT32)MappyDot Sensor 7 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT8_ROT (INT32)MappyDot Sensor 8 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

Values:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_MPDT9_ROT (INT32)MappyDot Sensor 9 Rotation

Comment: This parameter defines the rotation of the Mappydot sensor relative to the platform.

参数对照:
  • 0: No rotation
  • 1: Yaw 45°
  • 2: Yaw 90°
  • 3: Yaw 135°
  • 4: Yaw 180°
  • 5: Yaw 225°
  • 6: Yaw 270°
  • 7: Yaw 315°

Reboot required: true

[0, 7] 0
SENS_OR_ADIS164X (INT32)Analog Devices ADIS16448 IMU Orientation(external SPI) Values:
  • 0: ROTATION_NONE
  • 4: ROTATION_YAW_180

Reboot required: true

[0, 101] 0
SENS_SF0X_CFG (INT32)Serial Configuration for Lightware Laser Rangefinder (serial)

Comment: Configure on which serial port to run Lightware Laser Rangefinder (serial).

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_TEMP_ID (INT32)Target IMU device ID to regulate temperature 0
SENS_TFLOW_CFG (INT32)Serial Configuration for ThoneFlow-3901U optical flow sensor

Comment: Configure on which serial port to run ThoneFlow-3901U optical flow sensor.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_TFMINI_CFG (INT32)Serial Configuration for Benewake TFmini Rangefinder

Comment: Configure on which serial port to run Benewake TFmini Rangefinder.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_ULAND_CFG (INT32)Serial Configuration for uLanding Radar

Comment: Configure on which serial port to run uLanding Radar.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SENS_VN_CFG (INT32)Serial Configuration for VectorNav (VN-100, VN-200, VN-300)

Comment: Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SF45_ORIENT_CFG (INT32)Orientation upright or facing downward

Comment: The SF45 mounted facing upward or downward on the frame

Values:
  • 0: Rotation upward
  • 1: Rotation downward

Reboot required: True

0
SF45_UPDATE_CFG (INT32)Update rate in Hz

Comment: The SF45 sets the update rate in Hz to allow greater resolution

Values:
  • 1: 50hz
  • 2: 100hz
  • 3: 200hz
  • 4: 400hz
  • 5: 500hz
  • 6: 625hz
  • 7: 1000hz
  • 8: 1250hz
  • 9: 1538hz
  • 10: 2000hz
  • 11: 2500hz
  • 12: 5000hz

Reboot required: True

1
SF45_YAW_CFG (INT32)Sensor facing forward or backward

Comment: The usb port on the sensor indicates 180deg, opposite usb is forward facing

Values:
  • 0: Rotation forward
  • 1: Rotation backward
  • 2: Rotation right
  • 3: Rotation left

Reboot required: True

0
SIM_ARSPD_FAIL (INT32)Dynamically simulate failure of airspeed sensor instance Values:
  • 0: Disabled
  • 1: Enabled

Reboot required: true

[0, 1] 0
VN_MODE (INT32)VectorNav driver mode

Comment: INS or sensors

参数对照:
  • 0: Sensors Only (default)
  • 1: INS
0
VOXLPM_SHUNT_BAT (FLOAT)VOXL Power Monitor Shunt, Battery

Reboot required: true

[0.000000001, 0.1] (.000000001)0.00063
VOXLPM_SHUNT_REG (FLOAT)VOXL Power Monitor Shunt, Regulator

Reboot required: true

[0.000000001, 0.1] (.000000001)0.0056

Septentrio ​

名称参数描述[Min, Max] (Incr.)默认值单位
SEP_AUTO_CONFIG (INT32)Toggle automatic receiver configuration

Comment: By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.

Reboot required: True

Enabled (1)
SEP_CONST_USAGE (INT32)Usage of different constellations

Comment: Choice of which constellations the receiver should use for PVT computation. When this is 0, the constellation usage isn't changed.

Bitmask:
  • 0: GPS
  • 1: GLONASS
  • 2: Galileo
  • 3: SBAS
  • 4: BeiDou

Reboot required: True

[0, 63] 0
SEP_DUMP_COMM (INT32)Log GPS communication data

Comment: Dump raw communication data from and to the connected receiver to the log file.

Values:
  • 0: Disabled
  • 1: From receiver
  • 2: To receiver
  • 3: Both
[0, 3] 0
SEP_HARDW_SETUP (INT32)Setup and expected use of the hardware

Comment: Setup and expected use of the hardware. - Default: Use two receivers as completely separate instances. - Moving base: Use two receivers in a rover & moving base setup for heading.

参数对照:
  • 0: Default
  • 1: Moving base

Reboot required: True

[0, 1] 0
SEP_LOG_FORCE (INT32)Whether to overwrite or add to existing logging

Comment: When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.

Reboot required: True

Disabled (0)
SEP_LOG_HZ (INT32)Logging frequency for the receiver

Comment: Select the frequency at which the connected receiver should log data to its internal storage.

参数对照:
  • 0: Disabled
  • 1: 0.1 Hz
  • 2: 0.2 Hz
  • 3: 0.5 Hz
  • 4: 1 Hz
  • 5: 2 Hz
  • 6: 5 Hz
  • 7: 10 Hz
  • 8: 20 Hz
  • 9: 25 Hz
  • 10: 50 Hz

Reboot required: True

[0, 10] 0
SEP_LOG_LEVEL (INT32)Logging level for the receiver

Comment: Select the level of detail that needs to be logged by the receiver.

参数对照:
  • 0: Lite
  • 1: Basic
  • 2: Default
  • 3: Full

Reboot required: True

[0, 3] 2
SEP_OUTP_HZ (INT32)Output frequency of main SBF blocks

Comment: The output frequency of the main SBF blocks needed for PVT information.

Values:
  • 0: 5 Hz
  • 1: 10 Hz
  • 2: 20 Hz
  • 3: 25 Hz

Reboot required: True

[0, 3] 1
SEP_PITCH_OFFS (FLOAT)Pitch offset for dual antenna GPS

Comment: Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.

Reboot required: True

[-90, 90] 0deg
SEP_PORT1_CFG (INT32)Serial Configuration for GPS Port

Comment: Configure on which serial port to run GPS Port.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

201
SEP_PORT2_CFG (INT32)Serial Configuration for Secondary GPS port

Comment: Configure on which serial port to run Secondary GPS port.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
SEP_SAT_INFO (INT32)Enable sat info

Comment: Enable publication of satellite info (ORB_ID(satellite_info)) if possible.

Reboot required: True

Disabled (0)
SEP_STREAM_LOG (INT32)Logging stream used during automatic configuration

Comment: The stream the autopilot sets up on the receiver to output the logging data. Set this to another value if the default stream is already used for another purpose.

Reboot required: True

[1, 10] 2
SEP_STREAM_MAIN (INT32)Main stream used during automatic configuration

Comment: The stream the autopilot sets up on the receiver to output the main data. Set this to another value if the default stream is already used for another purpose.

Reboot required: True

[1, 10] 1
SEP_YAW_OFFS (FLOAT)Heading/Yaw offset for dual antenna GPS

Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.

Reboot required: True

[0, 360] 0deg

Serial ​

名称参数描述[Min, Max] (Incr.)默认值单位
RC_CRSF_PRT_CFG (INT32)Serial Configuration for CRSF RC Input Driver

Comment: Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) driver.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
RC_PORT_CONFIG (INT32)Serial Configuration for RC Input Driver

Comment: Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.

参数对照:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

300
SER_EXT2_BAUD (INT32)Baudrate for the EXT2 Serial Port

Comment: Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

57600
SER_GPS1_BAUD (INT32)Baudrate for the GPS 1 Serial Port

Comment: Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

参数对照:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

0
SER_GPS2_BAUD (INT32)Baudrate for the GPS 2 Serial Port

Comment: Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

0
SER_GPS3_BAUD (INT32)Baudrate for the GPS 3 Serial Port

Comment: Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

0
SER_MXS_BAUD (INT32)MXS Serial Communication Baud rate

Comment: Baudrate for the Serial Port connected to the MXS Transponder

参数对照:
  • 0: 38400
  • 1: 600
  • 2: 4800
  • 3: 9600
  • 4: RESERVED
  • 5: 57600
  • 6: 115200
  • 7: 230400
  • 8: 19200
  • 9: 460800
  • 10: 921600

Reboot required: true

[0, 10] 5
SER_RC_BAUD (INT32)Baudrate for the Radio Controller Serial Port

Comment: Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

参数对照:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

0
SER_TEL1_BAUD (INT32)Baudrate for the TELEM 1 Serial Port

Comment: Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

57600
SER_TEL2_BAUD (INT32)Baudrate for the TELEM 2 Serial Port

Comment: Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

参数对照:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

921600
SER_TEL3_BAUD (INT32)Baudrate for the TELEM 3 Serial Port

Comment: Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

57600
SER_TEL4_BAUD (INT32)Baudrate for the TELEM/SERIAL 4 Serial Port

Comment: Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

Values:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

57600
SER_URT6_BAUD (INT32)Baudrate for the UART 6 Serial Port

Comment: Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

参数对照:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

57600
SER_WIFI_BAUD (INT32)Baudrate for the Wifi Port Serial Port

Comment: Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.

参数对照:
  • 0: Auto
  • 50: 50 8N1
  • 75: 75 8N1
  • 110: 110 8N1
  • 134: 134 8N1
  • 150: 150 8N1
  • 200: 200 8N1
  • 300: 300 8N1
  • 600: 600 8N1
  • 1200: 1200 8N1
  • 1800: 1800 8N1
  • 2400: 2400 8N1
  • 4800: 4800 8N1
  • 9600: 9600 8N1
  • 19200: 19200 8N1
  • 38400: 38400 8N1
  • 57600: 57600 8N1
  • 115200: 115200 8N1
  • 230400: 230400 8N1
  • 460800: 460800 8N1
  • 500000: 500000 8N1
  • 921600: 921600 8N1
  • 1000000: 1000000 8N1
  • 1500000: 1500000 8N1
  • 2000000: 2000000 8N1
  • 3000000: 3000000 8N1

Reboot required: true

1

Simulation In Hardware ​

名称参数描述[Min, Max] (Incr.)默认值单位
SIH_DISTSNSR_MAX (FLOAT)distance sensor maximum range [0.0, 1000.0] (0.01)100.0m
SIH_DISTSNSR_MIN (FLOAT)distance sensor minimum range [0.0, 10.0] (0.01)0.0m
SIH_DISTSNSR_OVR (FLOAT)if >= 0 the distance sensor measures will be overridden by this value

Comment: Absolute value superior to 10000 will disable distance sensor

-1.0m
SIH_IXX (FLOAT)Vehicle inertia about X axis

Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

[0.0, ?] (0.005)0.025kg m^2
SIH_IXY (FLOAT)Vehicle cross term inertia xy

Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

(0.005)0.0kg m^2
SIH_IXZ (FLOAT)Vehicle cross term inertia xz

Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

(0.005)0.0kg m^2
SIH_IYY (FLOAT)Vehicle inertia about Y axis

Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

[0.0, ?] (0.005)0.025kg m^2
SIH_IYZ (FLOAT)Vehicle cross term inertia yz

Comment: The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.

(0.005)0.0kg m^2
SIH_IZZ (FLOAT)Vehicle inertia about Z axis

Comment: The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.

[0.0, ?] (0.005)0.030kg m^2
SIH_KDV (FLOAT)First order drag coefficient

Comment: Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]

[0.0, ?] (0.05)1.0N/(m/s)
SIH_KDW (FLOAT)First order angular damper coefficient

Comment: Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.

[0.0, ?] (0.005)0.025Nm/(rad/s)
SIH_LOC_H0 (FLOAT)Initial AMSL ground altitude

Comment: This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

[-420.0, 8848.0] (0.01)32.34m
SIH_LOC_LAT0 (INT32)Initial geodetic latitude

Comment: This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

[-850000000, 850000000] 454671160deg*1e7
SIH_LOC_LON0 (INT32)Initial geodetic longitude

Comment: This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.

[-1800000000, 1800000000] -737578370deg*1e7
SIH_L_PITCH (FLOAT)Pitch arm length

Comment: This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.

[0.0, ?] (0.05)0.2m
SIH_L_ROLL (FLOAT)Roll arm length

Comment: This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.

[0.0, ?] (0.05)0.2m
SIH_MASS (FLOAT)Vehicle mass

Comment: This value can be measured by weighting the quad on a scale.

[0.0, ?] (0.1)1.0kg
SIH_Q_MAX (FLOAT)Max propeller torque

Comment: This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.

[0.0, ?] (0.05)0.1Nm
SIH_T_MAX (FLOAT)Max propeller thrust force

Comment: This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.

[0.0, ?] (0.5)5.0N
SIH_T_TAU (FLOAT)thruster time constant tau

Comment: the time taken for the thruster to step from 0 to 100% should be about 4 times tau

0.05s
SIH_VEHICLE_TYPE (INT32)Vehicle type Values:
  • 0: Multicopter
  • 1: Fixed-Wing
  • 2: Tailsitter

Reboot required: true

0

Simulator ​

名称参数描述[Min, Max] (Incr.)默认值单位
SIM_BARO_OFF_P (FLOAT)simulated barometer pressure offset 0.0
SIM_BARO_OFF_T (FLOAT)simulated barometer temperature offset 0.0celcius
SIM_GPS_USED (INT32)simulated GPS number of satellites used [0, 50] 10
SIM_MAG_OFFSET_X (FLOAT)simulated magnetometer X offset 0.0gauss
SIM_MAG_OFFSET_Y (FLOAT)simulated magnetometer Y offset 0.0gauss
SIM_MAG_OFFSET_Z (FLOAT)simulated magnetometer Z offset 0.0gauss

System ​

名称参数描述[Min, Max] (Incr.)默认值单位
SYS_AUTOCONFIG (INT32)Automatically configure default values

Comment: Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.

Values:
  • 0: Keep parameters
  • 1: Reset parameters to airframe defaults
0
SYS_AUTOSTART (INT32)Auto-start script index

Comment: CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.

Reboot required: true

[0, 9999999] 0
SYS_BL_UPDATE (INT32)Bootloader update

Comment: If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card

Reboot required: true

Disabled (0)
SYS_CAL_ACCEL (INT32)Enable auto start of accelerometer thermal calibration at the next power up

Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

[0, 1] 0
SYS_CAL_BARO (INT32)Enable auto start of barometer thermal calibration at the next power up

Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

[0, 1] 0
SYS_CAL_GYRO (INT32)Enable auto start of rate gyro thermal calibration at the next power up

Comment: 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)

[0, 1] 0
SYS_CAL_TDEL (INT32)Required temperature rise during thermal calibration

Comment: A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.

[10, ?] 24celcius
SYS_CAL_TMAX (INT32)Maximum starting temperature for thermal calibration

Comment: Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.

10celcius
SYS_CAL_TMIN (INT32)Minimum starting temperature for thermal calibration

Comment: Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.

5celcius
SYS_DM_BACKEND (INT32)Dataman storage backend Values:
  • -1: Disabled
  • 0: default (SD card)
  • 1: RAM (not persistent)

Reboot required: true

Disabled (0)
SYS_FAC_CAL_MODE (INT32)Enable factory calibration mode

Comment: If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.

参数对照:
  • 0: Disabled
  • 1: All sensors
  • 2: All sensors except mag
0
SYS_FAILURE_EN (INT32)Enable failure injection

Comment: If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!

Disabled (0)
SYS_HAS_BARO (INT32)Control if the vehicle has a barometer

Comment: Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.

Reboot required: true

Enabled (1)
SYS_HAS_GPS (INT32)Control if the vehicle has a GPS

Comment: Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.

Reboot required: true

Enabled (1)
SYS_HAS_MAG (INT32)Control if the vehicle has a magnetometer

Comment: Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.

Reboot required: true

1
SYS_HAS_NUM_ASPD (INT32)Control if the vehicle has an airspeed sensor

Comment: Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.

[0, 1] 0
SYS_HAS_NUM_DIST (INT32)Number of distance sensors to check being available

Comment: The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.

[0, 4] 0
SYS_HITL (INT32)Enable HITL/SIH mode on next boot

Comment: While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).

参数对照:
  • -1: external HITL
  • 0: HITL and SIH disabled
  • 1: HITL enabled
  • 2: SIH enabled

Reboot required: true

0
SYS_PARAM_VER (INT32)Parameter version

Comment: This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters are reset and reloaded from the airframe configuration.

[0, ?] 1
SYS_RGB_MAXBRT (FLOAT)RGB Led brightness limit

Comment: Set to 0 to disable, 1 for maximum brightness

1.%
SYS_STCK_EN (INT32)Enable stack checking Enabled (1)

Telemetry ​

名称参数描述[Min, Max] (Incr.)默认值单位
TEL_BST_EN (INT32)Blacksheep telemetry Enable

Comment: If true, the FMU will try to connect to Blacksheep telemetry on start up

Reboot required: true

Disabled (0)
TEL_FRSKY_CONFIG (INT32)Serial Configuration for FrSky Telemetry

Comment: Configure on which serial port to run FrSky Telemetry.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
TEL_HOTT_CONFIG (INT32)Serial Configuration for HoTT Telemetry

Comment: Configure on which serial port to run HoTT Telemetry.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0

Testing ​

名称参数描述[Min, Max] (Incr.)默认值单位
TEST_1 (INT32)2
TEST_2 (INT32)4
TEST_3 (FLOAT)5.0
TEST_D (FLOAT)0.01
TEST_DEV (FLOAT)2.0
TEST_D_LP (FLOAT)10.0
TEST_HP (FLOAT)10.0
TEST_I (FLOAT)0.1
TEST_I_MAX (FLOAT)1.0
TEST_LP (FLOAT)10.0
TEST_MAX (FLOAT)1.0
TEST_MEAN (FLOAT)1.0
TEST_MIN (FLOAT)-1.0
TEST_P (FLOAT)0.2
TEST_PARAMS (INT32)12345678
TEST_RC2_X (INT32)16
TEST_RC_X (INT32)8
TEST_TRIM (FLOAT)0.5

Thermal Compensation ​

名称参数描述[Min, Max] (Incr.)默认值单位
TC_A0_ID (INT32)ID of Accelerometer that the calibration is for 0
TC_A0_TMAX (FLOAT)Accelerometer calibration maximum temperature 100.0
TC_A0_TMIN (FLOAT)Accelerometer calibration minimum temperature 0.0
TC_A0_TREF (FLOAT)Accelerometer calibration reference temperature 25.0
TC_A0_X0_0 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_A0_X0_1 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_A0_X0_2 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_A0_X1_0 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_A0_X1_1 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_A0_X1_2 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_A0_X2_0 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_A0_X2_1 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_A0_X2_2 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_A0_X3_0 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_A0_X3_1 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_A0_X3_2 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_A1_ID (INT32)ID of Accelerometer that the calibration is for 0
TC_A1_TMAX (FLOAT)Accelerometer calibration maximum temperature 100.0
TC_A1_TMIN (FLOAT)Accelerometer calibration minimum temperature 0.0
TC_A1_TREF (FLOAT)Accelerometer calibration reference temperature 25.0
TC_A1_X0_0 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_A1_X0_1 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_A1_X0_2 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_A1_X1_0 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_A1_X1_1 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_A1_X1_2 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_A1_X2_0 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_A1_X2_1 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_A1_X2_2 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_A1_X3_0 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_A1_X3_1 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_A1_X3_2 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_A2_ID (INT32)ID of Accelerometer that the calibration is for 0
TC_A2_TMAX (FLOAT)Accelerometer calibration maximum temperature 100.0
TC_A2_TMIN (FLOAT)Accelerometer calibration minimum temperature 0.0
TC_A2_TREF (FLOAT)Accelerometer calibration reference temperature 25.0
TC_A2_X0_0 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_A2_X0_1 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_A2_X0_2 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_A2_X1_0 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_A2_X1_1 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_A2_X1_2 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_A2_X2_0 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_A2_X2_1 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_A2_X2_2 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_A2_X3_0 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_A2_X3_1 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_A2_X3_2 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_A3_ID (INT32)ID of Accelerometer that the calibration is for 0
TC_A3_TMAX (FLOAT)Accelerometer calibration maximum temperature 100.0
TC_A3_TMIN (FLOAT)Accelerometer calibration minimum temperature 0.0
TC_A3_TREF (FLOAT)Accelerometer calibration reference temperature 25.0
TC_A3_X0_0 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_A3_X0_1 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_A3_X0_2 (FLOAT)Accelerometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_A3_X1_0 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_A3_X1_1 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_A3_X1_2 (FLOAT)Accelerometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_A3_X2_0 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_A3_X2_1 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_A3_X2_2 (FLOAT)Accelerometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_A3_X3_0 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_A3_X3_1 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_A3_X3_2 (FLOAT)Accelerometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_A_ENABLE (INT32)Thermal compensation for accelerometer sensors

Reboot required: true

Disabled (0)
TC_B0_ID (INT32)ID of Barometer that the calibration is for 0
TC_B0_TMAX (FLOAT)Barometer calibration maximum temperature 75.0
TC_B0_TMIN (FLOAT)Barometer calibration minimum temperature 5.0
TC_B0_TREF (FLOAT)Barometer calibration reference temperature 40.0
TC_B0_X0 (FLOAT)Barometer offset temperature ^0 polynomial coefficient 0.0
TC_B0_X1 (FLOAT)Barometer offset temperature ^1 polynomial coefficients 0.0
TC_B0_X2 (FLOAT)Barometer offset temperature ^2 polynomial coefficient 0.0
TC_B0_X3 (FLOAT)Barometer offset temperature ^3 polynomial coefficient 0.0
TC_B0_X4 (FLOAT)Barometer offset temperature ^4 polynomial coefficient 0.0
TC_B0_X5 (FLOAT)Barometer offset temperature ^5 polynomial coefficient 0.0
TC_B1_ID (INT32)ID of Barometer that the calibration is for 0
TC_B1_TMAX (FLOAT)Barometer calibration maximum temperature 75.0
TC_B1_TMIN (FLOAT)Barometer calibration minimum temperature 5.0
TC_B1_TREF (FLOAT)Barometer calibration reference temperature 40.0
TC_B1_X0 (FLOAT)Barometer offset temperature ^0 polynomial coefficient 0.0
TC_B1_X1 (FLOAT)Barometer offset temperature ^1 polynomial coefficients 0.0
TC_B1_X2 (FLOAT)Barometer offset temperature ^2 polynomial coefficient 0.0
TC_B1_X3 (FLOAT)Barometer offset temperature ^3 polynomial coefficient 0.0
TC_B1_X4 (FLOAT)Barometer offset temperature ^4 polynomial coefficient 0.0
TC_B1_X5 (FLOAT)Barometer offset temperature ^5 polynomial coefficient 0.0
TC_B2_ID (INT32)ID of Barometer that the calibration is for 0
TC_B2_TMAX (FLOAT)Barometer calibration maximum temperature 75.0
TC_B2_TMIN (FLOAT)Barometer calibration minimum temperature 5.0
TC_B2_TREF (FLOAT)Barometer calibration reference temperature 40.0
TC_B2_X0 (FLOAT)Barometer offset temperature ^0 polynomial coefficient 0.0
TC_B2_X1 (FLOAT)Barometer offset temperature ^1 polynomial coefficients 0.0
TC_B2_X2 (FLOAT)Barometer offset temperature ^2 polynomial coefficient 0.0
TC_B2_X3 (FLOAT)Barometer offset temperature ^3 polynomial coefficient 0.0
TC_B2_X4 (FLOAT)Barometer offset temperature ^4 polynomial coefficient 0.0
TC_B2_X5 (FLOAT)Barometer offset temperature ^5 polynomial coefficient 0.0
TC_B3_ID (INT32)ID of Barometer that the calibration is for 0
TC_B3_TMAX (FLOAT)Barometer calibration maximum temperature 75.0
TC_B3_TMIN (FLOAT)Barometer calibration minimum temperature 5.0
TC_B3_TREF (FLOAT)Barometer calibration reference temperature 40.0
TC_B3_X0 (FLOAT)Barometer offset temperature ^0 polynomial coefficient 0.0
TC_B3_X1 (FLOAT)Barometer offset temperature ^1 polynomial coefficients 0.0
TC_B3_X2 (FLOAT)Barometer offset temperature ^2 polynomial coefficient 0.0
TC_B3_X3 (FLOAT)Barometer offset temperature ^3 polynomial coefficient 0.0
TC_B3_X4 (FLOAT)Barometer offset temperature ^4 polynomial coefficient 0.0
TC_B3_X5 (FLOAT)Barometer offset temperature ^5 polynomial coefficient 0.0
TC_B_ENABLE (INT32)Thermal compensation for barometric pressure sensors

Reboot required: true

Disabled (0)
TC_G0_ID (INT32)ID of Gyro that the calibration is for 0
TC_G0_TMAX (FLOAT)Gyro calibration maximum temperature 100.0
TC_G0_TMIN (FLOAT)Gyro calibration minimum temperature 0.0
TC_G0_TREF (FLOAT)Gyro calibration reference temperature 25.0
TC_G0_X0_0 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - X axis 0.0
TC_G0_X0_1 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_G0_X0_2 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_G0_X1_0 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - X axis 0.0
TC_G0_X1_1 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_G0_X1_2 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_G0_X2_0 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - X axis 0.0
TC_G0_X2_1 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_G0_X2_2 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_G0_X3_0 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - X axis 0.0
TC_G0_X3_1 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_G0_X3_2 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_G1_ID (INT32)ID of Gyro that the calibration is for 0
TC_G1_TMAX (FLOAT)Gyro calibration maximum temperature 100.0
TC_G1_TMIN (FLOAT)Gyro calibration minimum temperature 0.0
TC_G1_TREF (FLOAT)Gyro calibration reference temperature 25.0
TC_G1_X0_0 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - X axis 0.0
TC_G1_X0_1 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_G1_X0_2 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_G1_X1_0 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - X axis 0.0
TC_G1_X1_1 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_G1_X1_2 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_G1_X2_0 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - X axis 0.0
TC_G1_X2_1 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_G1_X2_2 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_G1_X3_0 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - X axis 0.0
TC_G1_X3_1 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_G1_X3_2 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_G2_ID (INT32)ID of Gyro that the calibration is for 0
TC_G2_TMAX (FLOAT)Gyro calibration maximum temperature 100.0
TC_G2_TMIN (FLOAT)Gyro calibration minimum temperature 0.0
TC_G2_TREF (FLOAT)Gyro calibration reference temperature 25.0
TC_G2_X0_0 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - X axis 0.0
TC_G2_X0_1 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_G2_X0_2 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_G2_X1_0 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - X axis 0.0
TC_G2_X1_1 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_G2_X1_2 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_G2_X2_0 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - X axis 0.0
TC_G2_X2_1 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_G2_X2_2 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_G2_X3_0 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - X axis 0.0
TC_G2_X3_1 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_G2_X3_2 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_G3_ID (INT32)ID of Gyro that the calibration is for 0
TC_G3_TMAX (FLOAT)Gyro calibration maximum temperature 100.0
TC_G3_TMIN (FLOAT)Gyro calibration minimum temperature 0.0
TC_G3_TREF (FLOAT)Gyro calibration reference temperature 25.0
TC_G3_X0_0 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - X axis 0.0
TC_G3_X0_1 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_G3_X0_2 (FLOAT)Gyro rate offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_G3_X1_0 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - X axis 0.0
TC_G3_X1_1 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_G3_X1_2 (FLOAT)Gyro rate offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_G3_X2_0 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - X axis 0.0
TC_G3_X2_1 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_G3_X2_2 (FLOAT)Gyro rate offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_G3_X3_0 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - X axis 0.0
TC_G3_X3_1 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_G3_X3_2 (FLOAT)Gyro rate offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_G_ENABLE (INT32)Thermal compensation for rate gyro sensors

Reboot required: true

Disabled (0)
TC_M0_ID (INT32)ID of Magnetometer that the calibration is for 0
TC_M0_TMAX (FLOAT)Magnetometer calibration maximum temperature 100.0
TC_M0_TMIN (FLOAT)Magnetometer calibration minimum temperature 0.0
TC_M0_TREF (FLOAT)Magnetometer calibration reference temperature 25.0
TC_M0_X0_0 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_M0_X0_1 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_M0_X0_2 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_M0_X1_0 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_M0_X1_1 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_M0_X1_2 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_M0_X2_0 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_M0_X2_1 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_M0_X2_2 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_M0_X3_0 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_M0_X3_1 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_M0_X3_2 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_M1_ID (INT32)ID of Magnetometer that the calibration is for 0
TC_M1_TMAX (FLOAT)Magnetometer calibration maximum temperature 100.0
TC_M1_TMIN (FLOAT)Magnetometer calibration minimum temperature 0.0
TC_M1_TREF (FLOAT)Magnetometer calibration reference temperature 25.0
TC_M1_X0_0 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_M1_X0_1 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_M1_X0_2 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_M1_X1_0 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_M1_X1_1 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_M1_X1_2 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_M1_X2_0 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_M1_X2_1 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_M1_X2_2 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_M1_X3_0 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_M1_X3_1 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_M1_X3_2 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_M2_ID (INT32)ID of Magnetometer that the calibration is for 0
TC_M2_TMAX (FLOAT)Magnetometer calibration maximum temperature 100.0
TC_M2_TMIN (FLOAT)Magnetometer calibration minimum temperature 0.0
TC_M2_TREF (FLOAT)Magnetometer calibration reference temperature 25.0
TC_M2_X0_0 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_M2_X0_1 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_M2_X0_2 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_M2_X1_0 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_M2_X1_1 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_M2_X1_2 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_M2_X2_0 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_M2_X2_1 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_M2_X2_2 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_M2_X3_0 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_M2_X3_1 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_M2_X3_2 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_M3_ID (INT32)ID of Magnetometer that the calibration is for 0
TC_M3_TMAX (FLOAT)Magnetometer calibration maximum temperature 100.0
TC_M3_TMIN (FLOAT)Magnetometer calibration minimum temperature 0.0
TC_M3_TREF (FLOAT)Magnetometer calibration reference temperature 25.0
TC_M3_X0_0 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - X axis 0.0
TC_M3_X0_1 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Y axis 0.0
TC_M3_X0_2 (FLOAT)Magnetometer offset temperature ^0 polynomial coefficient - Z axis 0.0
TC_M3_X1_0 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - X axis 0.0
TC_M3_X1_1 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Y axis 0.0
TC_M3_X1_2 (FLOAT)Magnetometer offset temperature ^1 polynomial coefficient - Z axis 0.0
TC_M3_X2_0 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - X axis 0.0
TC_M3_X2_1 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Y axis 0.0
TC_M3_X2_2 (FLOAT)Magnetometer offset temperature ^2 polynomial coefficient - Z axis 0.0
TC_M3_X3_0 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - X axis 0.0
TC_M3_X3_1 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Y axis 0.0
TC_M3_X3_2 (FLOAT)Magnetometer offset temperature ^3 polynomial coefficient - Z axis 0.0
TC_M_ENABLE (INT32)Thermal compensation for magnetometer sensors

Reboot required: true

Disabled (0)

Transponder ​

NameDescription[Min, Max] (Incr.)DefaultUnits
MXS_EXT_CFG (INT32)Sagetech External Configuration Mode

Comment: Disables auto-configuration mode enabling MXS config through external software.

Reboot required: true

Disabled (0)
MXS_OP_MODE (INT32)Sagetech MXS mode configuration

Comment: This parameter defines the operating mode of the MXS

Values:
  • 0: Off
  • 1: On
  • 2: Standby
  • 3: Alt

Reboot required: false

[0, 3] 0
MXS_SER_CFG (INT32)Serial Configuration for Sagetech MXS Serial Port

Comment: Configure on which serial port to run Sagetech MXS Serial Port.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
MXS_TARG_PORT (INT32)Sagetech MXS Participant Configuration

Comment: The MXS communication port to receive Target data from

Values:
  • 0: Auto
  • 1: COM0
  • 2: COM1

Reboot required: false

[0, 2] 1

UAVCAN ​

NameDescription[Min, Max] (Incr.)DefaultUnits
CANNODE_BITRATE (INT32)UAVCAN CAN bus bitrate [20000, 1000000] 1000000
CANNODE_PUB_MBD (INT32)Enable MovingBaselineData publication

Reboot required: true

Disabled (0)
CANNODE_SUB_MBD (INT32)Enable MovingBaselineData subscription

Reboot required: true

[?, 1] Disabled (0)
CANNODE_SUB_RTCM (INT32)Enable RTCM subscription

Reboot required: true

Disabled (0)
CANNODE_TERM (INT32)CAN built-in bus termination [?, 1] Disabled (0)
SIM_GZ_EN (INT32)Simulator Gazebo bridge enable

Reboot required: true

Disabled (0)
UAVCAN_BITRATE (INT32)UAVCAN CAN bus bitrate

Reboot required: true

[20000, 1000000] 1000000bit/s
UAVCAN_ECU_FUELT (INT32)UAVCAN fuel tank fuel type

Comment: This parameter defines the type of fuel used in the vehicle's fuel tank. 0: Unknown 1: Liquid (e.g., gasoline, diesel) 2: Gas (e.g., hydrogen, methane, propane)

Values:
  • 0: Unknown
  • 1: Liquid
  • 2: Gas

Reboot required: true

[0, 2] 1
UAVCAN_ECU_MAXF (FLOAT)UAVCAN fuel tank maximum capacity

Comment: This parameter defines the maximum fuel capacity of the vehicle's fuel tank.

Reboot required: true

[0.0, 100000.0] (0.1)15.0liters
UAVCAN_ENABLE (INT32)UAVCAN mode

Comment: 0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.

Values:
  • 0: Disabled
  • 1: Sensors Manual Config
  • 2: Sensors Automatic Config
  • 3: Sensors and Actuators (ESCs) Automatic Config

Reboot required: true

[0, 3] 0
UAVCAN_LGT_ANTCL (INT32)UAVCAN ANTI_COLLISION light operating mode

Comment: This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:
  • 0: Always off
  • 1: When autopilot is armed
  • 2: When autopilot is prearmed
  • 3: Always on

Reboot required: true

[0, 3] 2
UAVCAN_LGT_LAND (INT32)UAVCAN LIGHT_ID_LANDING light operating mode

Comment: This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:
  • 0: Always off
  • 1: When autopilot is armed
  • 2: When autopilot is prearmed
  • 3: Always on

Reboot required: true

[0, 3] 0
UAVCAN_LGT_NAV (INT32)UAVCAN RIGHT_OF_WAY light operating mode

Comment: This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:
  • 0: Always off
  • 1: When autopilot is armed
  • 2: When autopilot is prearmed
  • 3: Always on

Reboot required: true

[0, 3] 3
UAVCAN_LGT_STROB (INT32)UAVCAN STROBE light operating mode

Comment: This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on

Values:
  • 0: Always off
  • 1: When autopilot is armed
  • 2: When autopilot is prearmed
  • 3: Always on

Reboot required: true

[0, 3] 1
UAVCAN_NODE_ID (INT32)UAVCAN Node ID

Comment: Read the specs at http://uavcan.org to learn more about Node ID.

Reboot required: true

[1, 125] 1
UAVCAN_PUB_ARM (INT32)publish Arming Status stream

Comment: Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus

Reboot required: true

Disabled (0)
UAVCAN_PUB_MBD (INT32)publish moving baseline data RTCM stream

Comment: Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData

Reboot required: true

Disabled (0)
UAVCAN_PUB_RTCM (INT32)publish RTCM stream

Comment: Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream

Reboot required: true

Disabled (0)
UAVCAN_RNG_MAX (FLOAT)UAVCAN rangefinder maximum range

Comment: This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.

200.0m
UAVCAN_RNG_MIN (FLOAT)UAVCAN rangefinder minimum range

Comment: This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.

0.3m
UAVCAN_SUB_ASPD (INT32)subscription airspeed

Comment: Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature

Reboot required: true

Disabled (0)
UAVCAN_SUB_BARO (INT32)subscription barometer

Comment: Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature

Reboot required: true

Disabled (0)
UAVCAN_SUB_BAT (INT32)subscription battery

Comment: Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library

Values:
  • 0: Disable
  • 1: Raw data
  • 2: Filter data

Reboot required: true

[0, 2] 0
UAVCAN_SUB_BTN (INT32)subscription button

Comment: Enable UAVCAN button subscription. ardupilot::indication::Button

Reboot required: true

Disabled (0)
UAVCAN_SUB_DPRES (INT32)subscription differential pressure

Comment: Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData

Reboot required: true

Disabled (0)
UAVCAN_SUB_FLOW (INT32)subscription flow

Comment: Enable UAVCAN optical flow subscription.

Reboot required: true

Disabled (0)
UAVCAN_SUB_FUEL (INT32)subscription fuel tank

Comment: Enable UAVCAN fuel tank status subscription.

Reboot required: true

Disabled (0)
UAVCAN_SUB_GPS (INT32)subscription GPS

Comment: Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary

Reboot required: true

Enabled (1)
UAVCAN_SUB_GPS_R (INT32)subscription GPS Relative

Comment: Enable UAVCAN GPS Relative subscription. ardupilot::gnss::RelPosHeading

Reboot required: true

Enabled (1)
UAVCAN_SUB_HYGRO (INT32)subscription hygrometer

Comment: Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer

Reboot required: true

Disabled (0)
UAVCAN_SUB_ICE (INT32)subscription ICE

Comment: Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status

Reboot required: true

Disabled (0)
UAVCAN_SUB_IMU (INT32)subscription IMU

Comment: Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU

Reboot required: true

Disabled (0)
UAVCAN_SUB_MAG (INT32)subscription magnetometer

Comment: Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2

Reboot required: true

Enabled (1)
UAVCAN_SUB_RNG (INT32)subscription range finder

Comment: Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement

Reboot required: true

Disabled (0)

UUV Attitude Control ​

NameDescription[Min, Max] (Incr.)DefaultUnits
UUV_DIRCT_PITCH (FLOAT)Direct pitch input 0.0
UUV_DIRCT_ROLL (FLOAT)Direct roll input 0.0
UUV_DIRCT_THRUST (FLOAT)Direct thrust input 0.0
UUV_DIRCT_YAW (FLOAT)Direct yaw input 0.0
UUV_INPUT_MODE (INT32)Select Input Mode Values:
  • 0: use Attitude Setpoints
  • 1: Direct Feedthrough
0
UUV_PITCH_D (FLOAT)Pitch differential gain 2.0
UUV_PITCH_P (FLOAT)Pitch proportional gain 4.0
UUV_ROLL_D (FLOAT)Roll differential gain 1.5
UUV_ROLL_P (FLOAT)Roll proportional gain 4.0
UUV_YAW_D (FLOAT)Yaw differential gain 2.0
UUV_YAW_P (FLOAT)Yawh proportional gain 4.0

UUV Position Control ​

NameDescription[Min, Max] (Incr.)DefaultUnits
UUV_GAIN_X_D (FLOAT)Gain of D controller X 0.2
UUV_GAIN_X_P (FLOAT)Gain of P controller X 1.0
UUV_GAIN_Y_D (FLOAT)Gain of D controller Y 0.2
UUV_GAIN_Y_P (FLOAT)Gain of P controller Y 1.0
UUV_GAIN_Z_D (FLOAT)Gain of D controller Z 0.2
UUV_GAIN_Z_P (FLOAT)Gain of P controller Z 1.0
UUV_STAB_MODE (INT32)Stabilization mode(1) or Position Control(0) Values:
  • 0: Position Control
  • 1: Stabilization Mode
1

UWB ​

NameDescription[Min, Max] (Incr.)DefaultUnits
UWB_INIT_OFF_X (FLOAT)UWB sensor X offset in body frame

Comment: UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o

(0.01)0.0m
UWB_INIT_OFF_Y (FLOAT)UWB sensor Y offset in body frame

Comment: UWB sensor positioning in relation to Drone in NED. Y offset.

(0.01)0.0m
UWB_INIT_OFF_Z (FLOAT)UWB sensor Z offset in body frame

Comment: UWB sensor positioning in relation to Drone in NED. Z offset.

(0.01)0.0m
UWB_PORT_CFG (INT32)Serial Configuration for Ultrawideband position sensor driver

Comment: Configure on which serial port to run Ultrawideband position sensor driver.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2

Reboot required: true

0
UWB_SENS_ROT (INT32)UWB sensor orientation

Comment: The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.

Values:
  • 0: ROTATION_NONE
  • 1: ROTATION_YAW_45
  • 2: ROTATION_YAW_90
  • 3: ROTATION_YAW_135
  • 4: ROTATION_YAW_180
  • 5: ROTATION_YAW_225
  • 6: ROTATION_YAW_270
  • 7: ROTATION_YAW_315
  • 8: ROTATION_ROLL_180
  • 9: ROTATION_ROLL_180_YAW_45
  • 10: ROTATION_ROLL_180_YAW_90
  • 11: ROTATION_ROLL_180_YAW_135
  • 12: ROTATION_PITCH_180
  • 13: ROTATION_ROLL_180_YAW_225
  • 14: ROTATION_ROLL_180_YAW_270
  • 15: ROTATION_ROLL_180_YAW_315
  • 16: ROTATION_ROLL_90
  • 17: ROTATION_ROLL_90_YAW_45
  • 18: ROTATION_ROLL_90_YAW_90
  • 19: ROTATION_ROLL_90_YAW_135
  • 20: ROTATION_ROLL_270
  • 21: ROTATION_ROLL_270_YAW_45
  • 22: ROTATION_ROLL_270_YAW_90
  • 23: ROTATION_ROLL_270_YAW_135
  • 24: ROTATION_PITCH_90
  • 25: ROTATION_PITCH_270
  • 26: ROTATION_PITCH_180_YAW_90
  • 27: ROTATION_PITCH_180_YAW_270
  • 28: ROTATION_ROLL_90_PITCH_90
  • 29: ROTATION_ROLL_180_PITCH_90
  • 30: ROTATION_ROLL_270_PITCH_90
  • 31: ROTATION_ROLL_90_PITCH_180
  • 32: ROTATION_ROLL_270_PITCH_180
  • 33: ROTATION_ROLL_90_PITCH_270
  • 34: ROTATION_ROLL_180_PITCH_270
  • 35: ROTATION_ROLL_270_PITCH_270
  • 36: ROTATION_ROLL_90_PITCH_180_YAW_90
  • 37: ROTATION_ROLL_90_YAW_270
  • 38: ROTATION_ROLL_90_PITCH_68_YAW_293
  • 39: ROTATION_PITCH_315
  • 40: ROTATION_ROLL_90_PITCH_315
0

UXRCE-DDS Client ​

NameDescription[Min, Max] (Incr.)DefaultUnits
UXRCE_DDS_AG_IP (INT32)uXRCE-DDS Agent IP address

Comment: If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.

Reboot required: True

2130706433
UXRCE_DDS_CFG (INT32)Serial Configuration for UXRCE-DDS Client

Comment: Configure on which serial port to run UXRCE-DDS Client.

Values:
  • 0: Disabled
  • 6: UART 6
  • 101: TELEM 1
  • 102: TELEM 2
  • 103: TELEM 3
  • 104: TELEM/SERIAL 4
  • 201: GPS 1
  • 202: GPS 2
  • 203: GPS 3
  • 300: Radio Controller
  • 301: Wifi Port
  • 401: EXT2
  • 1000: Ethernet

Reboot required: true

0
UXRCE_DDS_DOM_ID (INT32)uXRCE-DDS domain ID

Comment: uXRCE-DDS domain ID

Reboot required: True

0
UXRCE_DDS_KEY (INT32)uXRCE-DDS session key

Comment: uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.

Reboot required: True

1
UXRCE_DDS_PRT (INT32)uXRCE-DDS UDP port

Comment: If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.

Reboot required: True

[0, 65535] 8888
UXRCE_DDS_PTCFG (INT32)uXRCE-DDS participant configuration

Comment: Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name "px4_participant".

Values:
  • 0: Default
  • 1: Localhost-only
  • 2: Custom participant

Reboot required: True

[0, 2] 0
UXRCE_DDS_SYNCC (INT32)Enable uXRCE-DDS system clock synchronization

Comment: When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.

Reboot required: True

Disabled (0)
UXRCE_DDS_SYNCT (INT32)Enable uXRCE-DDS timestamp synchronization

Comment: When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.

Reboot required: True

Enabled (1)

VOXL ESC ​

NameDescription[Min, Max] (Incr.)DefaultUnits
VOXL_ESC_BAUD (INT32)UART ESC baud rate

Comment: Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.

250000bit/s
VOXL_ESC_CONFIG (INT32)UART ESC configuration

Comment: Selects what type of UART ESC, if any, is being used.

Values:
  • 0: - Disabled
  • 1: - VOXL ESC

Reboot required: true

[0, 1] 0
VOXL_ESC_MODE (INT32)UART ESC Mode

Comment: Selects what type of mode is enabled, if any

Values:
  • 0: - None
  • 1: - Turtle Mode enabled via AUX1
  • 2: - Turtle Mode enabled via AUX2
  • 3: - UART Passthrough Mode

Reboot required: true

[0, 2] 0
VOXL_ESC_PUB_BST (INT32)UART ESC Enable publishing of battery status

Comment: Only applicable to ESCs that report total battery voltage and current

Values:
  • 0: - Disabled
  • 1: - Enabled

Reboot required: true

[0, 1] 1
VOXL_ESC_RPM_MAX (INT32)UART ESC RPM Max

Comment: Maximum RPM for ESC

15000rpm
VOXL_ESC_RPM_MIN (INT32)UART ESC RPM Min

Comment: Minimum RPM for ESC

5500rpm
VOXL_ESC_SDIR1 (INT32)UART ESC ID 1 Spin Direction Flag Values:
  • 0: - Default
  • 1: - Reverse
0
VOXL_ESC_SDIR2 (INT32)UART ESC ID 2 Spin Direction Flag Values:
  • 0: - Default
  • 1: - Reverse
0
VOXL_ESC_SDIR3 (INT32)UART ESC ID 3 Spin Direction Flag Values:
  • 0: - Default
  • 1: - Reverse
0
VOXL_ESC_SDIR4 (INT32)UART ESC ID 4 Spin Direction Flag Values:
  • 0: - Default
  • 1: - Reverse
0
VOXL_ESC_T_COSP (FLOAT)UART ESC Turtle Mode Cosphi [0.000, 1.000] (0.001)0.990
VOXL_ESC_T_DEAD (INT32)UART ESC Turtle Mode Crash Flip Motor Deadband [0, 100] (1)20
VOXL_ESC_T_EXPO (INT32)UART ESC Turtle Mode Crash Flip Motor expo [0, 100] (1)35
VOXL_ESC_T_MINF (FLOAT)UART ESC Turtle Mode Crash Flip Motor STICK_MINF [0.0, 100.0] (1.0)0.15
VOXL_ESC_T_OVER (INT32)UART ESC Over-Temperature Threshold (Degrees C)

Comment: Only applicable to ESCs that report temperature

Values:
  • 0: - Disabled

Reboot required: true

[0, 200] 0
VOXL_ESC_T_PERC (INT32)UART ESC Turtle Mode Crash Flip Motor Percent [1, 100] (1)90
VOXL_ESC_T_WARN (INT32)UART ESC Temperature Warning Threshold (Degrees C)

Comment: Only applicable to ESCs that report temperature

Values:
  • 0: - Disabled

Reboot required: true

[0, 200] 0
VOXL_ESC_VLOG (INT32)UART ESC verbose logging Values:
  • 0: - Disabled
  • 1: - Enabled

Reboot required: true

[0, 1] 0

VOXL2 IO ​

NameDescription[Min, Max] (Incr.)DefaultUnits
VOXL2_IO_BAUD (INT32)UART M0065 baud rate

Comment: Default rate is 921600, which is used for communicating with M0065.

921600bit/s
VOXL2_IO_MAX (INT32)M0065 PWM Max

Comment: Maximum duration (microseconds) for M0065 PWM

[0, 2000] 2000us
VOXL2_IO_MIN (INT32)M0065 PWM Min

Comment: Minimum duration (microseconds) for M0065 PWM

[0, 2000] 1000us

VTOL Attitude Control ​

NameDescription[Min, Max] (Incr.)DefaultUnits
VT_ARSP_BLEND (FLOAT)Transition blending airspeed

Comment: Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.

[0.00, 30.00] (1)8.0m/s
VT_ARSP_TRANS (FLOAT)Transition airspeed

Comment: Airspeed at which we can switch to fw mode

[0.00, 30.00] (1)10.0m/s
VT_BT_TILT_DUR (FLOAT)Duration motor tilt up in backtransition

Comment: Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.

[0.1, 10] (0.1)1.s
VT_B_DEC_I (FLOAT)Backtransition deceleration setpoint to pitch I gain [0, 0.3] (0.05)0.1rad s/m
VT_B_DEC_MSS (FLOAT)Approximate deceleration during back transition

Comment: Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.

[0.5, 10] (0.1)2.0m/s^2
VT_B_TRANS_DUR (FLOAT)Maximum duration of a back transition

Comment: Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.

[0.1, 20.00] (1)10.0s
VT_B_TRANS_RAMP (FLOAT)Back transition MC motor ramp up time

Comment: This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.

[0.0, 20.0] (0.1)3.0s
VT_ELEV_MC_LOCK (INT32)Lock control surfaces in hover

Comment: If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.

Enabled (1)
VT_FWD_THRUST_EN (INT32)Use fixed-wing actuation in hover to accelerate forward

Comment: This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.

Values:
  • 0: Disabled
  • 1: Enabled (except LANDING)
  • 2: Enabled if distance to ground above MPC_LAND_ALT1
  • 3: Enabled if distance to ground above MPC_LAND_ALT2
  • 4: Enabled constantly
  • 5: Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)
  • 6: Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)
0
VT_FWD_THRUST_SC (FLOAT)Fixed-wing actuation thrust scale for hover forward flight

Comment: Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.

[0.0, 2.0] (0.01)0.7
VT_FW_DIFTHR_EN (INT32)Differential thrust in forwards flight

Comment: Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.

Bitmask:
  • 0: Yaw
  • 1: Roll
  • 2: Pitch
[0, 7] 0
VT_FW_DIFTHR_S_P (FLOAT)Pitch differential thrust factor in forward flight

Comment: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

[0.0, 2.0] (0.1)1.
VT_FW_DIFTHR_S_R (FLOAT)Roll differential thrust factor in forward flight

Comment: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

[0.0, 2.0] (0.1)1.
VT_FW_DIFTHR_S_Y (FLOAT)Yaw differential thrust factor in forward flight

Comment: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.

[0.0, 2.0] (0.1)0.1
VT_FW_MIN_ALT (FLOAT)Quad-chute altitude

Comment: Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.

[0.0, 200.0] (1)0.0m
VT_FW_QC_HMAX (INT32)Quad-chute maximum height

Comment: Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.

[0, ?] (1)0m
VT_FW_QC_P (INT32)Quad-chute max pitch threshold

Comment: Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

[0, 180] 0deg
VT_FW_QC_R (INT32)Quad-chute max roll threshold

Comment: Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

[0, 180] 0deg
VT_F_TRANS_DUR (FLOAT)Duration of a front transition

Comment: Time in seconds used for a transition

[0.1, 20.00] (1)5.0s
VT_F_TRANS_THR (FLOAT)Target throttle value for the transition to fixed-wing flight [0.0, 1.0] (0.01)1.0
VT_F_TR_OL_TM (FLOAT)Airspeed-less front transition time (open loop)

Comment: The duration of the front transition when there is no airspeed feedback available.

[1.0, 30.0] (0.5)6.0s
VT_LND_PITCH_MIN (FLOAT)Minimum pitch angle during hover landing

Comment: Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.

[-10.0, 45.0] (0.1)-5.0deg
VT_PITCH_MIN (FLOAT)Minimum pitch angle during hover

Comment: Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.

[-10.0, 45.0] (0.1)-5.0deg
VT_PSHER_SLEW (FLOAT)Pusher throttle ramp up slew rate

Comment: Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.

[0, ?] (0.01)0.331/s
VT_QC_ALT_LOSS (FLOAT)Quad-chute uncommanded descent threshold

Comment: Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.

[0.0, 200.0] (1)0.0m
VT_QC_T_ALT_LOSS (FLOAT)Quad-chute transition altitude loss threshold

Comment: Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.

[0, 50] (1)20.0m
VT_SPOILER_MC_LD (FLOAT)Spoiler setting while landing (hover) [-1, 1] (0.1)0.norm
VT_TILT_FW (FLOAT)Normalized tilt in FW [0.0, 1.0] (0.01)1.0
VT_TILT_MC (FLOAT)Normalized tilt in Hover [0.0, 1.0] (0.01)0.0
VT_TILT_TRANS (FLOAT)Normalized tilt in transition to FW [0.0, 1.0] (0.01)0.4
VT_TRANS_MIN_TM (FLOAT)Front transition minimum time

Comment: Minimum time in seconds for front transition.

[0.0, 20.0] (0.1)2.0s
VT_TRANS_P2_DUR (FLOAT)Duration of front transition phase 2

Comment: Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.

[0.1, 5.0] (0.01)0.5s
VT_TRANS_TIMEOUT (FLOAT)Front transition timeout

Comment: Time in seconds after which transition will be cancelled. Disabled if set to 0.

[0.1, 30.00] (1)15.0s
VT_TYPE (INT32)VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) Values:
  • 0: Tailsitter
  • 1: Tiltrotor
  • 2: Standard

Reboot required: true

[0, 2] 0
WV_GAIN (FLOAT)Weather-vane roll angle to yawrate

Comment: The desired gain to convert roll sp into yaw rate sp.

[0.0, 3.0] (0.01)1.0Hz

VTOL Takeoff ​

NameDescription[Min, Max] (Incr.)DefaultUnits
VTO_LOITER_ALT (FLOAT)VTOL Takeoff relative loiter altitude

Comment: Altitude relative to home at which vehicle will loiter after front transition.

[20, 300] (1)80m

Zenoh ​

NameDescription[Min, Max] (Incr.)DefaultUnits
ZENOH_ENABLE (INT32)Zenoh Enable

Comment: Zenoh

Reboot required: True

0

Miscellaneous ​

NameDescription[Min, Max] (Incr.)DefaultUnits
SCH16T_ACC_FILT (INT32)Accel filter settings Values:
  • 0: 13 Hz
  • 1: 30 Hz
  • 2: 68 Hz
  • 3: 235 Hz
  • 4: 280 Hz
  • 5: 370 Hz
  • 6: No filter

Reboot required: true

6
SCH16T_DECIM (INT32)Gyro and Accel decimation settings Values:
  • 0: None
  • 1: 5900 Hz
  • 2: 2950 Hz
  • 3: 1475 Hz
  • 4: 738 Hz

Reboot required: true

4
SCH16T_GYRO_FILT (INT32)Gyro filter settings Values:
  • 0: 13 Hz
  • 1: 30 Hz
  • 2: 68 Hz
  • 3: 235 Hz
  • 4: 280 Hz
  • 5: 370 Hz
  • 6: No filter

Reboot required: true

2
SF1XX_MODE (INT32)Lightware SF1xx/SF20/LW20 Operation Mode Values:
  • 0: Disabled
  • 1: Enabled
  • 2: Disabled during VTOL fast forward flight
[0, 2] 1
UUV_SKIP_CTRL (INT32)Skip the controller Values:
  • 0: use the module's controller
  • 1: skip the controller and feedthrough the setpoints
0