ArduCopter Parameters

Content

参考手册目录

Complete Parameter List


This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your APM to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.


目录

ArduCopter Parameters

Eeprom format version number (ArduCopter:SYSID_SW_MREV)

Note: This parameter is for advanced users

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

Software Type (ArduCopter:SYSID_SW_TYPE)

Note: This parameter is for advanced users

This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)

Mavlink version (ArduCopter:SYSID_THISMAV)

Note: This parameter is for advanced users

Allows reconising the mavlink version

My ground station number (ArduCopter:SYSID_MYGCS)

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Telemetry Baud Rate (ArduCopter:SERIAL3_BAUD)

The baud rate used on the telemetry port

ValueMeaning

1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200

Telemetry startup delay (ArduCopter:TELEM_DELAY)

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

  • Range: 0 10
  • Increment: 1
  • Units: seconds

RTL Altitude (ArduCopter:RTL_ALT)

The minimum altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.

  • Range: 0 8000
  • Increment: 1
  • Units: Centimeters

Enable Sonar (ArduCopter:SONAR_ENABLE)

Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar

ValueMeaning

0 Disabled
1 Enabled

Sonar type (ArduCopter:SONAR_TYPE)

Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time)

ValueMeaning

0 XL-EZ0 / XL-EZ4
1 LV-EZ0
2 XLL-EZ0
3 HRLV

Sonar gain (ArduCopter:SONAR_GAIN)

Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter

  • Range: 0.01 0.5
  • Increment: 0.01

Battery monitoring (ArduCopter:BATT_MONITOR)

Controls enabling monitoring of the battery’s voltage and current

ValueMeaning

0 Disabled
3 Voltage Only
4 Voltage and Current

Battery Failsafe Enable (ArduCopter:FS_BATT_ENABLE)

Controls whether failsafe will be invoked when battery voltage or current runs low

ValueMeaning

0 Disabled
1 Enabled

GPS Failsafe Enable (ArduCopter:FS_GPS_ENABLE)

Controls whether failsafe will be invoked when gps signal is lost

ValueMeaning

0 Disabled
1 Enabled

Ground Station Failsafe Enable (ArduCopter:FS_GCS_ENABLE)

Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds

ValueMeaning

0 Disabled
1 Enabled always RTL
2 Enabled Continue with Mission in Auto Mode

Voltage Divider (ArduCopter:VOLT_DIVIDER)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_DIVIDER). For the 3DR Power brick, this should be set to 10.1. For the PX4 using the PX4IO power supply this should be set to 1.

Current Amps per volt (ArduCopter:AMP_PER_VOLT)

Note: This parameter is for advanced users

Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )

Battery Capacity (ArduCopter:BATT_CAPACITY)

Battery capacity in milliamp-hours (mAh)

  • Units: mAh

Enable Compass (ArduCopter:MAG_ENABLE)

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass

ValueMeaning

0 Disabled
1 Enabled

Enable Optical Flow (ArduCopter:FLOW_ENABLE)

Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow

ValueMeaning

0 Disabled
1 Enabled

Low Voltage (ArduCopter:LOW_VOLT)

Set this to the voltage you want to represent low voltage

  • Range: 0 20
  • Increment: 0.1

Enable Super Simple Mode (ArduCopter:SUPER_SIMPLE)

Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode

ValueMeaning

0 Disabled
1 Enabled

RTL Final Altitude (ArduCopter:RTL_ALT_FINAL)

This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.

  • Range: -1 1000
  • Increment: 1
  • Units: Centimeters

Battery Voltage sensing pin (ArduCopter:BATT_VOLT_PIN)

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100.

ValueMeaning

-1 Disabled
0 A0
1 A1
13 A13
100 PX4

Battery Current sensing pin (ArduCopter:BATT_CURR_PIN)

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101.

ValueMeaning

-1 Disabled
1 A1
2 A2
12 A12
101 PX4

Receiver RSSI sensing pin (ArduCopter:RSSI_PIN)

This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum

ValueMeaning

-1 Disabled
0 A0
1 A1
2 A2
13 A13

Yaw behaviour during missions (ArduCopter:WP_YAW_BEHAVIOR)

Note: This parameter is for advanced users

Determines how the autopilot controls the yaw during missions and RTL

ValueMeaning

0 Never change yaw
1 Face next waypoint
2 Face next waypoint except RTL

Waypoint Total (ArduCopter:WP_TOTAL)

Note: This parameter is for advanced users

Total number of commands in the mission stored in the eeprom. Do not update this parameter directly!

Waypoint Index (ArduCopter:WP_INDEX)

Note: This parameter is for advanced users

The index number of the command that is currently being executed. Do not update this parameter directly!

Circle radius (ArduCopter:CIRCLE_RADIUS)

Defines the radius of the circle the vehicle will fly when in Circle flight mode

  • Range: 1 127
  • Increment: 1
  • Units: Meters

Circle rate (ArduCopter:CIRCLE_RATE)

Circle mode’s turn rate in degrees / second. Positive to turn clockwise, negative for counter clockwise

  • Range: -90 90
  • Increment: 1
  • Units: deg/s

RTL loiter time (ArduCopter:RTL_LOIT_TIME)

Time (in milliseconds) to loiter above home before begining final descent

  • Range: 0 60000
  • Increment: 1000
  • Units: ms

Land speed (ArduCopter:LAND_SPEED)

The descent speed for the final stage of landing in cm/s

  • Range: 20 200
  • Increment: 10
  • Units: cm/s

Pilot maximum vertical speed (ArduCopter:PILOT_VELZ_MAX)

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

  • Range: 10 500
  • Increment: 10
  • Units: Centimeters/Second

Minimum Throttle (ArduCopter:THR_MIN)

The minimum throttle that will be sent to the motors to keep them spinning

  • Range: 0 1000
  • Increment: 1
  • Units: ms

Maximum Throttle (ArduCopter:THR_MAX)

The maximum throttle that will be sent to the motors

  • Range: 0 1000
  • Increment: 1
  • Units: ms

Throttle Failsafe Enable (ArduCopter:FS_THR_ENABLE)

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

ValueMeaning

0 Disabled
1 Enabled always RTL
2 Enabled Continue with Mission in Auto Mode
3 Enabled always LAND

Throttle Failsafe Value (ArduCopter:FS_THR_VALUE)

The PWM level on channel 3 below which throttle sailsafe triggers

  • Range: 925 1100
  • Increment: 1
  • Units: ms

Throttle Trim (ArduCopter:TRIM_THROTTLE)

The autopilot’s estimate of the throttle required to maintain a level hover. Calculated automatically from the pilot’s throttle input while in stabilize mode

  • Range: 0 1000
  • Units: ms

Throttle Mid Position (ArduCopter:THR_MID)

The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover

  • Range: 300 700
  • Increment: 1

Flight Mode 1 (ArduCopter:FLTMODE1)

Flight mode when Channel 5 pwm is <= 1230

ValueMeaning

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
9 Land
10 OF_Loiter
11 ToyA
12 ToyM

Flight Mode 2 (ArduCopter:FLTMODE2)

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

ValueMeaning

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
9 Land
10 OF_Loiter
11 ToyA
12 ToyM

Flight Mode 3 (ArduCopter:FLTMODE3)

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

ValueMeaning

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
9 Land
10 OF_Loiter
11 ToyA
12 ToyM

Flight Mode 4 (ArduCopter:FLTMODE4)

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

ValueMeaningtr>9Land

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
10 OF_Loiter
11 ToyA
12 ToyM

Flight Mode 5 (ArduCopter:FLTMODE5)

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

ValueMeaning

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
9 Land
10 OF_Loiter
11 ToyA
12 ToyM

Flight Mode 6 (ArduCopter:FLTMODE6)

Flight mode when Channel 5 pwm is >=1750

ValueMeaning

0 Stabilize
1 Acro
2 AltHold
3 Auto
4 Guided
5 Loiter
6 RTL
7 Circle
8 Position
9 Land
10 OF_Loiter
11 ToyA
12 ToyM

Simple mode bitmask (ArduCopter:SIMPLE)

Note: This parameter is for advanced users

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

Log bitmask (ArduCopter:LOG_BITMASK)

Note: This parameter is for advanced users

2 byte bitmap of log types to enable

ValueMeaning

0 Disabled
830 Default
958 Default+IMU
1854 Default+Motors
17214 Default+INav

Toy Yaw Rate (ArduCopter:TOY_RATE)

Note: This parameter is for advanced users

Controls yaw rate in Toy mode. Higher values will cause a slower yaw rate. Do not set to zero!

  • Range: 1 10

ESC Calibration (ArduCopter:ESC)

Note: This parameter is for advanced users

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

ValueMeaning

0 Normal Start-up
1 Start-up in ESC Calibration mode

Channel 6 Tuning (ArduCopter:TUNE)

Controls which parameters (normally PID gains) are being tuned with transmitter’s channel 6 knob

ValueMeaning

0 None
1 Stab Roll/Pitch kP
4 Rate Roll/Pitch kP
5 Rate Roll/Pitch kI
21 Rate Roll/Pitch kD
3 Stab Yaw kP
6 Rate Yaw kP
26 Rate Yaw kD
14 Altitude Hold kP
7 Throttle Rate kP
37 Throttle Rate kD
34 Throttle Accel kP
35 Throttle Accel kI
36 Throttle Accel kD
12 Loiter Pos kP
22 Loiter Rate kP
28 Loiter Rate kI
23 Loiter Rate kD
10 WP Speed
25 Acro kP
9 Relay On/Off
13 Heli Ext Gyro
17 OF Loiter kP
18 OF Loiter kI
19 OF Loiter kD
30 AHRS Yaw kP
31 AHRS kP
32 INAV_TC
38 Declination
39 Circle Rate

Tuning minimum (ArduCopter:TUNE_LOW)

The minimum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob

  • Range: 0 32767

Tuning maximum (ArduCopter:TUNE_HIGH)

The maximum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob

  • Range: 0 32767

Frame Orientation (+, X or V) (ArduCopter:FRAME)

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

ValueMeaning

0 Plus
1 X
2 V
3 H

>Channel 7 option (ArduCopter:CH7_OPT)

Select which function if performed when CH7 is above 1800 pwm

ValueMeaning

0 Do Nothing
2 Flip
3 Simple Mode
4 RTL
5 Save Trim
7 Save WP
8 Multi Mode
9 Camera Trigger
10 Sonar
11 Fence
12 ResetToArmedYaw

Channel 8 option (ArduCopter:CH8_OPT)

Select which function if performed when CH8 is above 1800 pwm

ValueMeaning

0 Do Nothing
2 Flip
3 Simple Mode
4 RTL
5 Save Trim
7 Save WP
8 Multi Mode
9 Camera Trigger
10 Sonar
11 Fence
12 ResetToArmedYaw

Arming check (ArduCopter:ARMING_CHECK)

Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass

ValueMeaning

0 Disabled
1 Enabled

Rate Pitch Feed Forward (ArduCopter:RATE_PIT_FF)

Rate Pitch Feed Forward (for TradHeli Only)

  • Range: 0 10

Rate Roll Feed Forward (ArduCopter:RATE_RLL_FF)

Rate Roll Feed Forward (for TradHeli Only)

  • Range: 0 10

Rate Yaw Feed Forward (ArduCopter:RATE_YAW_FF)

Rate Yaw Feed Forward (for TradHeli Only)

  • Range: 0 10

ESC Update Speed (ArduCopter:RC_SPEED)

Note: This parameter is for advanced users

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

  • Range: 50 490
  • Increment: 1
  • Units: Hz

Acro P gain (ArduCopter:ACRO_P)

Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode. Higher values mean faster rate of rotation.

  • Range: 1 10

Acro Axis (ArduCopter:AXIS_ENABLE)

Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)

ValueMeaning

0 Disabled
1 Enabled

Acro Balance Roll (ArduCopter:ACRO_BAL_ROLL)

Note: This parameter is for advanced users

rate at which roll angle returns to level in acro mode

  • Range: 0 300
  • Increment: 1

Acro Balance Pitch (ArduCopter:ACRO_BAL_PITCH)

Note: This parameter is for advanced users

rate at which pitch angle returns to level in acro mode

  • Range: 0 300
  • Increment: 1

Acro Trainer Enabled (ArduCopter:ACRO_TRAINER)

Note: This parameter is for advanced users

Set to 1 (Enabled) to make roll return to within 45 degrees of level automatically

ValueMeaning

0 Disabled
1 Enabled

Copter LED Mode (ArduCopter:LED_MODE)

bitmap to control the copter led mode

ValueMeaning

0 Disabled
1 Enable
2 GPS On
4 Aux
8 Buzzer
16 Oscillate
32 Nav Blink
64 GPS Nav Blink

Roll axis rate controller P gain (ArduCopter:RATE_RLL_P)

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

  • Range: 0.08 0.20
  • Increment: 0.005

Roll axis rate controller I gain (ArduCopter:RATE_RLL_I)

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

  • Range: 0.01 0.5
  • Increment: 0.01

Roll axis rate controller I gain maximum (ArduCopter:RATE_RLL_IMAX)

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

  • Range: 0 500
  • Increment: 10
  • Units: ms

Roll axis rate controller D gain (ArduCopter:RATE_RLL_D)

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

  • Range: 0.001 0.008
  • Increment: 0.001

Pitch axis rate controller P gain (ArduCopter:RATE_PIT_P)

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

  • Range: 0.08 0.20
  • Increment: 0.005

Pitch axis rate controller I gain (ArduCopter:RATE_PIT_I)

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

  • Range: 0.01 0.5
  • Increment: 0.01

Pitch axis rate controller I gain maximum (ArduCopter:RATE_PIT_IMAX)

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

  • Range: 0 500
  • Increment: 10
  • Units: ms

Pitch axis rate controller D gain (ArduCopter:RATE_PIT_D)

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

  • Range: 0.001 0.008
  • Increment: 0.001

Yaw axis rate controller P gain (ArduCopter:RATE_YAW_P)

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

  • Range: 0.150 0.250
  • Increment: 0.005

Yaw axis rate controller I gain (ArduCopter:RATE_YAW_I)

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

  • Range: 0.010 0.020
  • Increment: 0.01

Yaw axis rate controller I gain maximum (ArduCopter:RATE_YAW_IMAX)

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

  • Range: 0 500
  • Increment: 10
  • Units: ms

Yaw axis rate controller D gain (ArduCopter:RATE_YAW_D)

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

  • Range: 0.000 0.001
  • Increment: 0.001

Loiter latitude rate controller P gain (ArduCopter:LOITER_LAT_P)

Loiter latitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the latitude direction

  • Range: 0.1 6.0
  • Increment: 0.1

Loiter latitude rate controller I gain (ArduCopter:LOITER_LAT_I)

Loiter latitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the latitude direction

  • Range: 0.02 1.00
  • Increment: 0.01

Loiter rate controller I gain maximum (ArduCopter:LOITER_LAT_IMAX)

Loiter rate controller I gain maximum. Constrains the lean angle that the I gain will output

  • Range: 0 4500
  • Increment: 10
  • Units: Centi-Degrees

Loiter latitude rate controller D gain (ArduCopter:LOITER_LAT_D)

Loiter latitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed

  • Range: 0.0 0.6
  • Increment: 0.01

Loiter longitude rate controller P gain (ArduCopter:LOITER_LON_P)

Loiter longitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the longitude direction

  • Range: 0.1 6.0
  • Increment: 0.1

Loiter longitude rate controller I gain (ArduCopter:LOITER_LON_I)

Loiter longitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the longitude direction

  • Range: 0.02 1.00
  • Increment: 0.01

Loiter longitude rate controller I gain maximum (ArduCopter:LOITER_LON_IMAX)

Loiter longitude rate controller I gain maximum. Constrains the lean angle that the I gain will output

  • Range: 0 4500
  • Increment: 10
  • Units: Centi-Degrees

Loiter longituderate controller D gain (ArduCopter:LOITER_LON_D)

Loiter longitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed

  • Range: 0.0 0.6
  • Increment: 0.01

Throttle rate controller P gain (ArduCopter:THR_RATE_P)

Throttle rate controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

  • Range: 1.000 8.000

Throttle rate controller I gain (ArduCopter:THR_RATE_I)

Throttle rate controller I gain. Corrects long-term difference in desired vertical speed and actual speed

  • Range: 0.000 0.100

Throttle rate controller I gain maximum (ArduCopter:THR_RATE_IMAX)

Throttle rate controller I gain maximum. Constrains the desired acceleration that the I gain will generate

  • Range: 0 500
  • Units: cm/s/s

Throttle rate controller D gain (ArduCopter:THR_RATE_D)

Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed

  • Range: 0.000 0.400

Throttle acceleration controller P gain (ArduCopter:THR_ACCEL_P)

Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

  • Range: 0.500 1.500

Throttle acceleration controller I gain (ArduCopter:THR_ACCEL_I)

Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

  • Range: 0.000 3.000

Throttle acceleration controller I gain maximum (ArduCopter:THR_ACCEL_IMAX)

Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate

  • Range: 0 500
  • Units: ms

Throttle acceleration controller D gain (ArduCopter:THR_ACCEL_D)

Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

  • Range: 0.000 0.400

Optical Flow based loiter controller roll axis P gain (ArduCopter:OF_RLL_P)

Optical Flow based loiter controller roll axis P gain. Converts the position error from the target point to a roll angle

  • Range: 2.000 3.000

Optical Flow based loiter controller roll axis I gain (ArduCopter:OF_RLL_I)

Optical Flow based loiter controller roll axis I gain. Corrects long-term position error by more persistently rolling left or right

  • Range: 0.250 0.750

Optical Flow based loiter controller roll axis I gain maximum (ArduCopter:OF_RLL_IMAX)

Optical Flow based loiter controller roll axis I gain maximum. Constrains the maximum roll angle that the I term will generate

  • Range: 0 4500
  • Units: Centi-Degrees

Optical Flow based loiter controller roll axis D gain (ArduCopter:OF_RLL_D)

Optical Flow based loiter controller roll axis D gain. Compensates for short-term change in speed in the roll direction

  • Range: 0.100 0.140

Optical Flow based loiter controller pitch axis P gain (ArduCopter:OF_PIT_P)

Optical Flow based loiter controller pitch axis P gain. Converts the position error from the target point to a pitch angle

  • Range: 2.000 3.000

Optical Flow based loiter controller pitch axis I gain (ArduCopter:OF_PIT_I)

Optical Flow based loiter controller pitch axis I gain. Corrects long-term position error by more persistently pitching left or right

  • Range: 0.250 0.750

Optical Flow based loiter controller pitch axis I gain maximum (ArduCopter:OF_PIT_IMAX)

Optical Flow based loiter controller pitch axis I gain maximum. Constrains the maximum pitch angle that the I term will generate

  • Range: 0 4500
  • Units: Centi-Degrees

Optical Flow based loiter controller pitch axis D gain (ArduCopter:OF_PIT_D)

Optical Flow based loiter controller pitch axis D gain. Compensates for short-term change in speed in the pitch direction

  • Range: 0.100 0.140

Roll axis stabilize controller P gain (ArduCopter:STB_RLL_P)

Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

  • Range: 3.000 6.000

Roll axis stabilize controller I gain (ArduCopter:STB_RLL_I)

Roll axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired roll angle and actual angle

  • Range: 0.000 0.100

Roll axis stabilize controller I gain maximum (ArduCopter:STB_RLL_IMAX)

Roll axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum roll rate that the I term will generate

  • Range: 0 4500
  • Units: Centi-Degrees/Sec

Pitch axis stabilize controller P gain (ArduCopter:STB_PIT_P)

Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

  • Range: 3.000 6.000

Pitch axis stabilize controller I gain (ArduCopter:STB_PIT_I)

Pitch axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired pitch angle and actual angle

  • Range: 0.000 0.100

Pitch axis stabilize controller I gain maximum (ArduCopter:STB_PIT_IMAX)

Pitch axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum pitch rate that the I term will generate

  • Range: 0 4500
  • Units: Centi-Degrees/Sec

Yaw axis stabilize controller P gain (ArduCopter:STB_YAW_P)

Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

  • Range: 3.000 6.000

Yaw axis stabilize controller I gain (ArduCopter:STB_YAW_I)

Yaw axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired yaw angle and actual angle

  • Range: 0.000 0.100

Yaw axis stabilize controller I gain maximum (ArduCopter:STB_YAW_IMAX)

Yaw axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum yaw rate that the I term will generate

  • Range: 0 4500
  • Units: Centi-Degrees/Sec

Altitude controller P gain (ArduCopter:THR_ALT_P)

Altitude controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

  • Range: 1.000 3.000

Altitude controller I gain (ArduCopter:THR_ALT_I)

Altitude controller I gain. Corrects for longer-term difference in desired altitude and actual altitude

  • Range: 0.000 0.100

Altitude controller I gain maximum (ArduCopter:THR_ALT_IMAX)

Altitude controller I gain maximum. Constrains the maximum climb rate rate that the I term will generate

  • Range: 0 500
  • Units: cm/s

Loiter latitude position controller P gain (ArduCopter:HLD_LAT_P)

Loiter latitude position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

  • Range: 0.100 0.300

Loiter latitude position controller I gain (ArduCopter:HLD_LAT_I)

Loiter latitude position controller I gain. Corrects for longer-term distance (in latitude) to the target location

  • Range: 0.000 0.100

Loiter latitude position controller I gain maximum (ArduCopter:HLD_LAT_IMAX)

Loiter latitude position controller I gain maximum. Constrains the maximum desired speed that the I term will generate

  • Range: 0 3000
  • Units: cm/s

Loiter longitude position controller P gain (ArduCopter:HLD_LON_P)

Loiter longitude position controller P gain. Converts the distance (in the longitude direction) to the target location into a desired speed which is then passed to the loiter longitude rate controller

  • Range: 0.100 0.300

Loiter longitude position controller I gain (ArduCopter:HLD_LON_I)

Loiter longitude position controller I gain. Corrects for longer-term distance (in longitude direction) to the target location

  • Range: 0.000 0.100

Loiter longitudeposition controller I gain maximum (ArduCopter:HLD_LON_IMAX)

Loiter longitudeposition controller I gain maximum. Constrains the maximum desired speed that the I term will generate

  • Range: 0 3000
  • Units: cm/s

Library Parameters

HS1_ Parameters

RC min PWM (HS1_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (HS1_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (HS1_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (HS1_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (HS1_DZ)

Note: This parameter is for advanced users

dead zone around trim.

HS2_ Parameters

RC min PWM (HS2_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (HS2_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (HS2_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (HS2_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (HS2_DZ)

Note: This parameter is for advanced users

dead zone around trim.

HS3_ Parameters

RC min PWM (HS3_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (HS3_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (HS3_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (HS3_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (HS3_DZ)

Note: This parameter is for advanced users

dead zone around trim.

HS4_ Parameters

RC min PWM (HS4_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (HS4_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (HS4_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (HS4_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (HS4_DZ)

Note: This parameter is for advanced users

dead zone around trim.

RC1_ Parameters

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC1_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users

dead zone around trim.

RC2_ Parameters

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC2_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users

dead zone around trim.

RC3_ Parameters

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC3_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users

dead zone around trim.

RC4_ Parameters

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC4_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users

dead zone around trim.

RC5_ Parameters

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC5_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC5_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC6_ Parameters

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC6_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC6_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC7_ Parameters

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC7_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC7_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC8_ Parameters

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC8_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC8_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC10_ Parameters

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC10_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC10_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC11_ Parameters

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC11_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC11_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC9_ Parameters

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC9_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC9_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

RC12_ Parameters

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

  • Range: 800 2200
  • Increment: 1
  • Units: ms

RC reverse (RC12_REV)

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

ValueMeaning

-1 Reversed
1 Normal

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Servo out function (RC12_FUNCTION)

Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function

ValueMeaning

0 Disabled
1 Manual
2 Flap
3 Flap_auto
4 Aileron
5 flaperon
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder

CAM_ Parameters

Camera shutter (trigger) type (CAM_TRIGG_TYPE)

how to trigger the camera to take a picture

ValueMeaning

0 Servo
1 Relay

Duration that shutter is held open (CAM_DURATION)

How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)

  • Range: 0 50

Servo ON PWM value (CAM_SERVO_ON)

PWM value to move servo to when shutter is activated

  • Range: 1000 2000

Servo OFF PWM value (CAM_SERVO_OFF)

PWM value to move servo to when shutter is deactivated

  • Range: 1000 2000

Camera trigger distance (CAM_TRIGG_DIST)

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in

  • Range: 0 1000

RELAY_ Parameters

Relay Pin (RELAY_PIN)

Digital pin number for relay control. This is normally 47 for the APM1 relay, 13 for the A9 pin on APM2 and 111 for the high power relay pin on the PX4.

COMPASS_ Parameters

Compass offsets on the X axis (COMPASS_OFS_X)

Offset to be added to the compass x-axis values to compensate for metal in the frame

  • Range: -400 400
  • Increment: 1

Compass offsets on the Y axis (COMPASS_OFS_Y)

Offset to be added to the compass y-axis values to compensate for metal in the frame

  • Range: -400 400
  • Increment: 1

Compass offsets on the Z axis (COMPASS_OFS_Z)

Offset to be added to the compass z-axis values to compensate for metal in the frame

  • Range: -400 400
  • Increment: 1

Compass declination (COMPASS_DEC)

An angle to compensate between the true north and magnetic north

  • Range: -3.142 3.142
  • Increment: 0.01
  • Units: Radians

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets

ValueMeaning

0 Disabled
1 Enabled

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users

Enable or disable the use of the compass (instead of the GPS) for determining heading

ValueMeaning

0 Disabled
1 Enabled

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users

Enable or disable the automatic calculation of the declination based on gps location

ValueMeaning

0 Disabled
1 Enabled

Motor interference compensation type (COMPASS_MOTCT)

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

ValueMeaning

0 Disabled
1 Use Throttle
2 Use Current
  • Increment: 1

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference

  • Range: -1000 1000
  • Increment: 1
  • Units: Offset per Amp or at Full Throttle

Compass orientation (COMPASS_ORIENT)

The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.

ValueMeaning

0 None
1 Yaw45
2 Yaw90
3 Yaw135
4 Yaw180
5 Yaw225
6 Yaw270
7 Yaw315
8 Roll180
9 Roll180Yaw45
10 Roll180Yaw90
11 Roll180Yaw135
12 Pitch180
13 Roll180Yaw225
14 Roll180Yaw270
15 Roll180Yaw315
16 Roll90
17 Roll90Yaw45
18 Roll90Yaw90
19 Roll90Yaw135
20 Roll270
21 Roll270Yaw45
22 Roll270Yaw90
23 Roll270Yaw136
24 Pitch90
25 Pitch270

INS_ Parameters

IMU Product ID (INS_PRODUCT_ID)

Which type of IMU is installed (read-only)

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

  • Range: 0.8 1.2

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

  • Range: -300 300
  • Units: m/s/s

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

  • Range: -300 300
  • Units: m/s/s

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

  • Range: -300 300
  • Units: m/s/s

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

  • Units: rad/s

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

  • Units: rad/s

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

  • Units: rad/s

MPU6000 filter frequency (INS_MPU6K_FILTER)

Note: This parameter is for advanced users

Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

ValueMeaning

0 Default
5 5Hz
10 10Hz
20 20Hz
42 42Hz
98 98Hz
  • Units: Hz

INAV_ Parameters

Horizontal Time Constant (INAV_TC_XY)

Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate

  • Range: 0 10
  • Increment: 0.1

Vertical Time Constant (INAV_TC_Z)

Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate

  • Range: 0 10
  • Increment: 0.1

SR0_ Parameters

Horizontal Time Constant (SR0_TC_XY)

Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate

  • Range: 0 10
  • Increment: 0.1

Vertical Time Constant (SR0_TC_Z)

Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate

  • Range: 0 10
  • Increment: 0.1

SR3_ Parameters

Horizontal Time Constant (SR3_TC_XY)

Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate

  • Range: 0 10
  • Increment: 0.1

Vertical Time Constant (SR3_TC_Z)

Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate

  • Range: 0 10
  • Increment: 0.1

AHRS_ Parameters

AHRS GPS gain (AHRS_GPS_GAIN)

This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

  • Range: 0.0 1.0
  • Increment: .01

AHRS use GPS for navigation (AHRS_GPS_USE)

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won’t be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.

ValueMeaning

0 Disabled
1 Enabled

Yaw P (AHRS_YAW_P)

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

  • Range: 0.1 0.4
  • Increment: .01

AHRS RP_P (AHRS_RP_P)

This controls how fast the accelerometers correct the attitude

  • Range: 0.1 0.4
  • Increment: .01

Maximum wind (AHRS_WIND_MAX)

This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.

  • Range: 0 127
  • Increment: 1
  • Units: m/s

AHRS Trim Roll (AHRS_TRIM_X)

Note: This parameter is for advanced users

Compensates for the roll angle difference between the control board and the frame

  • Range: -10 10
  • Units: Radians

AHRS Trim Pitch (AHRS_TRIM_Y)

Note: This parameter is for advanced users

Compensates for the pitch angle difference between the control board and the frame

  • Range: -10 10
  • Units: Radians

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users

Not Used

  • Range: -10 10
  • Units: Radians

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.

ValueMeaning

0 None
1 Yaw45
2 Yaw90
3 Yaw135
4 Yaw180
5 Yaw225
6 Yaw270
7 Yaw315
8 Roll180
9 Roll180Yaw45
10 Roll180Yaw90
11 Roll180Yaw135
12 Pitch180
13 Roll180Yaw225
14 Roll180Yaw270
15 Roll180Yaw315
16 Roll90
17 Roll90Yaw45
18 Roll90Yaw90
19 Roll90Yaw135
20 Roll270
21 Roll270Yaw45
22 Roll270Yaw90
23 Roll270Yaw135
24 Pitch90
25 Pitch270

AHRS Velocity Complmentary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users

This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.

  • Range: 0.001 0.5
  • Increment: .01

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users

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

  • Range: 0 10
  • Increment: 1

MNT_ Parameters

Mount operation mode (MNT_MODE)

Camera or antenna mount operation mode

ValueMeaning

0 retract
1 neutral
2 MavLink_targeting
3 RC_targeting
4 GPS_point

Mount roll angle when in retracted position (MNT_RETRACT_X)

Mount roll angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y)

Mount tilt/pitch angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z)

Mount yaw/pan angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle when in neutral position (MNT_NEUTRAL_X)

Mount roll angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y)

Mount tilt/pitch angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z)

Mount pan/yaw angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle command from groundstation (MNT_CONTROL_X)

Mount roll angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle command from groundstation (MNT_CONTROL_Y)

Mount tilt/pitch angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle command from groundstation (MNT_CONTROL_Z)

Mount pan/yaw angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Stabilize mount’s pitch/tilt angle (MNT_STAB_TILT)

enable tilt/pitch stabilisation relative to Earth

ValueMeaning

0 Disabled
1 Enabled

Stabilize mount pan/yaw angle (MNT_STAB_PAN)

enable pan/yaw stabilisation relative to Earth

ValueMeaning

0 Disabled
1 Enabled

roll RC input channel (MNT_RC_IN_ROLL)

0 for none, any other for the RC channel to be used to control roll movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum roll angle (MNT_ANGMIN_ROL)

Minimum physical roll angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum roll angle (MNT_ANGMAX_ROL)

Maximum physical roll angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

tilt (pitch) RC input channel (MNT_RC_IN_TILT)

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum tilt angle (MNT_ANGMIN_TIL)

Minimum physical tilt (pitch) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum tilt angle (MNT_ANGMAX_TIL)

Maximum physical tilt (pitch) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

pan (yaw) RC input channel (MNT_RC_IN_PAN)

0 for none, any other for the RC channel to be used to control pan (yaw) movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum pan angle (MNT_ANGMIN_PAN)

Minimum physical pan (yaw) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum pan angle (MNT_ANGMAX_PAN)

Maximum physical pan (yaw) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

mount joystick speed (MNT_JSTICK_SPD)

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

  • Range: 0 100
  • Increment: 1

MNT2_ Parameters

Mount operation mode (MNT2_MODE)

Camera or antenna mount operation mode

ValueMeaning

0 retract
1 neutral
2 MavLink_targeting
3 RC_targeting
4 GPS_point

Mount roll angle when in retracted position (MNT2_RETRACT_X)

Mount roll angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in retracted position (MNT2_RETRACT_Y)

Mount tilt/pitch angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount yaw/pan angle when in retracted position (MNT2_RETRACT_Z)

Mount yaw/pan angle when in retracted position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

Mount roll angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y)

Mount tilt/pitch angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z)

Mount pan/yaw angle when in neutral position

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount roll angle command from groundstation (MNT2_CONTROL_X)

Mount roll angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount tilt/pitch angle command from groundstation (MNT2_CONTROL_Y)

Mount tilt/pitch angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Mount pan/yaw angle command from groundstation (MNT2_CONTROL_Z)

Mount pan/yaw angle when in MavLink or RC control operation mode

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Stabilize mount’s pitch/tilt angle (MNT2_STAB_TILT)

enable tilt/pitch stabilisation relative to Earth

ValueMeaning

0 Disabled
1 Enabled

Stabilize mount pan/yaw angle (MNT2_STAB_PAN)

enable pan/yaw stabilisation relative to Earth

ValueMeaning

0 Disabled
1 Enabled

roll RC input channel (MNT2_RC_IN_ROLL)

0 for none, any other for the RC channel to be used to control roll movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum roll angle (MNT2_ANGMIN_ROL)

Minimum physical roll angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum roll angle (MNT2_ANGMAX_ROL)

Maximum physical roll angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

tilt (pitch) RC input channel (MNT2_RC_IN_TILT)

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum tilt angle (MNT2_ANGMIN_TIL)

Minimum physical tilt (pitch) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum tilt angle (MNT2_ANGMAX_TIL)

Maximum physical tilt (pitch) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

pan (yaw) RC input channel (MNT2_RC_IN_PAN)

0 for none, any other for the RC channel to be used to control pan (yaw) movements

ValueMeaning

0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8

Minimum pan angle (MNT2_ANGMIN_PAN)

Minimum physical pan (yaw) angular position of mount.

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

Maximum pan angle (MNT2_ANGMAX_PAN)

Maximum physical pan (yaw) angular position of the mount

  • Range: -18000 17999
  • Increment: 1
  • Units: Centi-Degrees

mount joystick speed (MNT2_JSTICK_SPD)

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

  • Range: 0 100
  • Increment: 1

GND_ Parameters

Absolute Pressure (GND_ABS_PRESS)

calibrated ground pressure in Pascals

  • Increment: 1

ground temperature (GND_TEMP)

calibrated ground temperature in degrees Celsius

  • Increment: 1

altitude offset (GND_ALT_OFFSET)

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

  • Range: -128 127
  • Increment: 1
  • Units: meters

SCHED_ Parameters

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages

ValueMeaning

0 Disabled
1 ShowSlipe
2 ShowOverruns

H_ Parameters

Servo 1 Position (H_SV1_POS)

This is the angular location of swash servo #1.

  • Range: -180 180
  • Increment: 1
  • Units: Degrees

Servo 2 Position (H_SV2_POS)

This is the angular location of swash servo #2.

  • Range: -180 180
  • Increment: 1
  • Units: Degrees

Servo 3 Position (H_SV3_POS)

This is the angular location of swash servo #3.

  • Range: -180 180
  • Increment: 1
  • Units: Degrees

Maximum Roll Angle (H_ROL_MAX)

Note: This parameter is for advanced users

This is the maximum allowable roll of the swash plate.

  • Range: 0 18000
  • Increment: 1
  • Units: Degrees

Maximum Pitch Angle (H_PIT_MAX)

Note: This parameter is for advanced users

This is the maximum allowable pitch of the swash plate.

  • Range: 0 18000
  • Increment: 1
  • Units: Degrees

Collective Pitch Minimum (H_COL_MIN)

This controls the lowest possible servo position for the swashplate.

  • Range: 1000 2000
  • Increment: 1
  • Units: PWM

Collective Pitch Maximum (H_COL_MAX)

This controls the highest possible servo position for the swashplate.

  • Range: 1000 2000
  • Increment: 1
  • Units: PWM

Collective Pitch Mid-Point (H_COL_MID)

This is the swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades).

  • Range: 1000 2000
  • Increment: 1
  • Units: PWM

External Gyro Enabled (H_GYR_ENABLE)

Setting this to Enabled(1) will enable an external rudder gyro control which means outputting a gain on channel 7 and using a simpler heading control algorithm. Setting this to Disabled(0) will disable the external gyro gain on channel 7 and revert to a more complex yaw control algorithm.

ValueMeaning

0 Disabled
1 Enabled

Swash Plate Type (H_SWASH_TYPE)

Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed “H1″.

External Gyro Gain (H_GYR_GAIN)

This is the PWM which is passed to the external gyro when external gyro is enabled.

  • Range: 1000 2000
  • Increment: 1
  • Units: PWM

Manual Servo Mode (H_SV_MAN)

Setting this to Enabled(1) will pass radio inputs directly to servos. Setting this to Disabled(0) will enable Arducopter control of servos. This is only meant to be used by the Mission Planner using swash plate set-up.

ValueMeaning

0 Disabled
1 Enabled

Swashplate Phase Angle Compensation (H_PHANG)

Note: This parameter is for advanced users

This corrects for phase angle errors of the helicopter main rotor head. For example if pitching the swash forward also induces a roll, that effect can be offset with this parameter.

  • Range: -90 90
  • Increment: 1
  • Units: Degrees

Collective-Yaw Mixing (H_COLYAW)

This is a feed-forward compensation to automatically add rudder input when collective pitch is increased.

  • Range: 0 5

External Motor Governor Setpoint (H_GOV_SETPOINT)

This is the PWM which is passed to the external motor governor when external governor is enabled.

  • Range: 1000 2000
  • Increment: 10
  • Units: PWM

Rotor Speed Control Mode (H_RSC_MODE)

This sets which ESC control mode is active.

  • Range: 1 3

RSC Ramp Rate (H_RSC_RATE)

This sets the time the RSC takes to ramp up to full speed (Soft Start).

  • Range: 0 6000
  • Units: Seconds

Flybar Mode Selector (H_FLYBAR_MODE)

This sets which acro mode is active. (0) is Flybarless (1) is Mechanical Flybar

  • Range: 0 1

Stabilize Throttle Minimum (H_STAB_COL_MIN)

This is the minimum collective setpoint in Stabilize Mode

  • Range: 0 50
  • Increment: 1
  • Units: 1%

Stabilize Throttle Maximum (H_STAB_COL_MAX)

This is the maximum collective setpoint in Stabilize Mode

  • Range: 50 100
  • Increment: 1
  • Units: 1%

MOT_ Parameters

Thrust Curve Enable (MOT_TCRV_ENABLE)

Controls whether a curve is used to linearize the thrust produced by the motors

ValueMeaning

0 Disabled
1 Enable

Thrust Curve mid-point percentage (MOT_TCRV_MIDPCT)

Set the pwm position that produces half the maximum thrust of the motors

  • Range: 20 80

Thrust Curve max thrust percentage (MOT_TCRV_MAXPCT)

Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.

  • Range: 20 80

RCMAP_ Parameters

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users

Roll channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

Pitch channel (RCMAP_PITCH)

Note: This parameter is for advanced users

Pitch channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

Throttle channel (RCMAP_THROTTLE)

Note: This parameter is for advanced users

Throttle channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

Yaw channel (RCMAP_YAW)

Note: This parameter is for advanced users

Yaw channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.

  • Range: 1 8
  • Increment: 1

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