3/24/2015 User Manual Introduction | ArduPlane

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The topic of safety should be foremost on

your mind.

Autonomous robots, flying machines,

high­energy power systems driving

rotating blades — you are in charge of

APM is designed to easily integrate with

most standard RC aircraft, from simple highwing trainers to high­speed swept wing

fighters and flying wings. If you have

something out of the ordinary please assume

that a bit more tuning will be required to get

This User Manual is designed to work for the novice and experienced users. It should be easy

to run through, but there is also a nice path for a leisurely walk.

Please do not be tempted to skip over steps and rush into flight. This is robotics and aviation

combined–both of which are quite complex on their own. Take some time to become familiar

with this user manual. Follow the steps patiently, and you will have your robot safely up in the

air.

Setup­ Installing: hardware, software, and firmware. Plugging in: Sensors, radios, batteries,

motors, etc.

Configuration­ Establish telemetry and control between: robot, ground­station, and RCcontrol transmitter. Set up flight modes, program failsafe behavior, calibrate sensors and

motor­controllers, verify correct motor rotation and prop orientation.

Tuning­ Verify performance and behavior, adjusting parameters to suit

Mission planning and analysis­ Programing missions, logging and analyzing telemetry data,

ground­control set up.

Flying­ Safe­skillful piloting and rules of the air, weather and location considerations, preflight checks, emergency procedures, operation examples

Warnings and Notices:

ArduPilot > ArduPlane > User Manual Introduction

User Manual Introduction

ArduPlane
3/24/2015 User Manual Introduction | ArduPlane

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these potential hazards. things dialed in.

All of us involved with this project care a great deal about the privacy and safety of those whom

we share this planet with. Please be a good steward of this technology. It is the product of

many evenings and weekends, we make it available for benevolent use.

Questions about this page? Comments? Suggestions? Post to APM Forum! Use the platform

specific to your query, and make sure to include the name of the page you are referring to.
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Turning a RC plane into a UAV is essentially just a matter of putting an autopilot between the

RC receiver and the aircraft’s servos, so the autopilot can take over control.

The way we do that is to plug female­to­female cables from the RC receiver into APM2’s

inputs, and plug the servos (and motor controller for electric aircraft) into APM2’s outputs.

Contents [hide]

1 What you’ll need

2 Inputs

3 Reassigning your RC transmitter stick channels:

4 Outputs

5 Installing it in your plane

6 Example Wiring Diagram for a Bixler plane with APM

7 POWER INPUT

What you’ll need

At least a 5­channel RC unit. 7 channels or more is highly recommended

Female­to female cables for each channel you’ll be using. These are fine.

For APM2.0 you will need a power source. For electric aircraft, this is usually the ESC. For

gas/nitro powered planes, your radio will need its own battery/BEC. ArduPilot Mega

normally gets its power from the RC system.

For APM2.5 you can use the supplied APM Power Module for the power source. You still

need an ESC or BEC to power the servos.

ArduPilot > ArduPlane > Connecting your RC Gear

Connecting your RC Gear

ArduPlane
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Note:

You can also power APM 2 from the USB cable. However, this will not power the RC output

pins, so if you want to see servos move while testing APM 2 on the bench, you’ll need to

connect a battery (through an ESC) to one of the output channels. It’s fine to have both an

ESC and the USB cable connected at the same time.

Inputs

Connect your RC receiver to APM2’s Inputs with female­to­female cables in the order shown

above. Each channel that you want APM to control should be connected to an Input on the

APM board. Typically, the Mode Switch (APM Input 8 for !ArduPlane) is connected to any RC

receiver channel that you have assigned to a three­position toggle switch on your RC

transmitter (for most people, that’s channel 5).
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Note:

These instructions are for APM:Plane. APM:Copter’s mode switch goes to APM input 5, not

input 8

The ground (black) side of each connector should be on the outside, closest to the edge of the

board, as shown here with either straight or right­angle connectors:
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Note:

Instructions for using a PPM­Sum receiver are here

Elevons (combined ailerons/elevator, as used in flying wings) are also supported’ just

connect them to the first two channels as you would to your RC receiver. You’ll tell APM to

do elevon mixing in the Mission Planner setup process.

V­Tail is supported starting with version 2.71. No radio mixing is needed. Simply follow the

instructions on Setting up a VTAIL Plane.

If you’d like to mix your rudder and elevator channels externally with a hardware mixer, here’s

a good and very inexpensive ($3) one.

Reassigning your RC transmitter stick channels:

Although the default normal transmitter stick configuration is generally the best, APM:Plane

does allow you to reconfigure them.

To reassign the RC transmitter sticks to other than the default channels:

Connect your APM’s USB port to your computer and start Mission Planner and Select the

“Connect” button on the upper right..

Select the “Configuration” tab then select “Advanced Params” and the Adv Parameter
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List”.

Scroll down to the “RCMAP_ROLL, RCMAP_PITCH, RCMAP_THROTTLE and

RCMAP_YAW” parameters.

These allow you to directly assign which radio channel (1­8) is assigned to each of the

major flight functions.

This is useful when you have a flight transmitter with unusual channel assignments.

Or which does not allow easy channel reassignment at the transmitter

Additional information on these parameters may be found (Here!)

Outputs

Plug your servos and other devices you want APM to control into the matching Output

connectors as shown above.

four channel setup:

1. aileron

2. elevator

3. throttle

4. rudder
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elevon setup:

1. starboard (right) elevon

2. port (left) elevon

3. throttle

Installing it in your plane

When you place APM in your aircraft, it is very important that it face the right way. The GPS

connector should face forward, and the servo cables face back. The board must also be right

side up, with the IMU shield at the top. Like this (note: there’s a little arrow on the bottom of the

shield that point to the front, too, in case you need a reminder at the field):
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When putting APM in your plane, it’s important to ensure that it’s solidly mounted and doesn’t

move around in flight. It should also be as close as possible to level when the plane is in its

flying orientation. Ideally, you’ll want to have it as close to the center of gravity as you can

(that’s where vibration is the least) and mounted on foam tape onto a solid platform.

Tips on mounting the GPS module

It doesn’t matter which way the GPS module is oriented, as long as the square antenna side
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is facing up

It’s best to mount the GPS as far away from radio transmission equipment (like your

telemetry or video transmitters) as possible.

Ideally, the GPS module will have a clear view of the sky. On top of your plane is a good

choice.

Here’s an example of one way to mount APM (and the GPS module) in an EasyStar using the

3D Robotics Electronics Chassis for the HobbyKing Bixler.

Chassis:

With equipment mounted:
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Example Wiring Diagram for a Bixler plane with APM
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POWER INPUT

Single Supply

Power Options Nominal Abs MAX JP1 status

Power on Output PWM connector 5.37V +­0.5 6V JP1 connected

Dual Supply

Power Options Nominal Abs MAX JP1 status

Power on Output PWM connector 5.00V +­0.5 6V JP1 open

Power on Input PWM connector 5.00V +­0.25 5.5V JP1 open

NOTE: if JP1 open, separate power is required on both Input PWM and Output PWM
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Warning: Do not exceed Abs MAX input voltages when connecting power supply or you

will damage your board.

Warning: Connecting USB when you have input voltages at the high end of the range

(near Abs Max) can damage the board. Disconnect battery before connecting USB or

test input voltages so they are within the normal specified range.

Questions about this page? Comments? Suggestions? Post to APM Forum! Use the platform

specific to your query, and make sure to include the name of the page you are referring to.
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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.

Contents [hide]

1 ArduPlane Parameters

1.1 Eeprom format version number (ArduPlane:FORMAT_VERSION)

1.2 Software Type (ArduPlane:SYSID_SW_TYPE)

1.3 MAVLink system ID (ArduPlane:SYSID_THISMAV)

1.4 Ground station MAVLink system ID (ArduPlane:SYSID_MYGCS)

1.5 CLI Enable (ArduPlane:CLI_ENABLED)

1.6 Autotune level (ArduPlane:AUTOTUNE_LEVEL)

1.7 Telemetry startup delay (ArduPlane:TELEM_DELAY)

1.8 Rudder Mix (ArduPlane:KFF_RDDRMIX)

1.9 Throttle to Pitch Mix (ArduPlane:KFF_THR2PTCH)

1.10 Low throttle pitch down trim (ArduPlane:STAB_PITCH_DOWN)

1.11 Glide slope threshold (ArduPlane:GLIDE_SLOPE_MIN)

1.12 Stick Mixing (ArduPlane:STICK_MIXING)

1.13 Skip gyro calibration (ArduPlane:SKIP_GYRO_CAL)

1.14 Use FBWA steering in AUTO (ArduPlane:AUTO_FBW_STEER)

ArduPilot > ArduPlane > ArduPlane Parameters

ArduPlane Parameters

ArduPlane
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1.15 Takeoff throttle min speed (ArduPlane:TKOFF_THR_MINSPD)

1.16 Takeoff throttle min acceleration (ArduPlane:TKOFF_THR_MINACC)

1.17 Takeoff throttle delay (ArduPlane:TKOFF_THR_DELAY)

1.18 Takeoff tail dragger elevator (ArduPlane:TKOFF_TDRAG_ELEV)

1.19 Takeoff tail dragger speed1 (ArduPlane:TKOFF_TDRAG_SPD1)

1.20 Takeoff rotate speed (ArduPlane:TKOFF_ROTATE_SPD)

1.21 Takeoff throttle slew rate (ArduPlane:TKOFF_THR_SLEW)

1.22 Takeoff flap percentage (ArduPlane:TKOFF_FLAP_PCNT)

1.23 FBWA taildragger channel (ArduPlane:FBWA_TDRAG_CHAN)

1.24 Level flight roll limit (ArduPlane:LEVEL_ROLL_LIMIT)

1.25 Landing Pitch (ArduPlane:LAND_PITCH_CD)

1.26 Landing flare altitude (ArduPlane:LAND_FLARE_ALT)

1.27 Landing flare time (ArduPlane:LAND_FLARE_SEC)

1.28 Landing disarm delay (ArduPlane:LAND_DISARMDELAY)

1.29 Navigation controller selection (ArduPlane:NAV_CONTROLLER)

1.30 GPS to Baro Mix (ArduPlane:ALT_MIX)

1.31 Altitude control algorithm (ArduPlane:ALT_CTRL_ALG)

1.32 Altitude offset (ArduPlane:ALT_OFFSET)

1.33 Waypoint Radius (ArduPlane:WP_RADIUS)

1.34 Waypoint Maximum Radius (ArduPlane:WP_MAX_RADIUS)

1.35 Waypoint Loiter Radius (ArduPlane:WP_LOITER_RAD)

1.36 Action on geofence breach (ArduPlane:FENCE_ACTION)

1.37 Fence Total (ArduPlane:FENCE_TOTAL)

1.38 Fence Channel (ArduPlane:FENCE_CHANNEL)

1.39 Fence Minimum Altitude (ArduPlane:FENCE_MINALT)

1.40 Fence Maximum Altitude (ArduPlane:FENCE_MAXALT)

1.41 Fence Return Altitude (ArduPlane:FENCE_RETALT)

1.42 Fence automatic enable (ArduPlane:FENCE_AUTOENABLE)

1.43 Fence Return to Rally (ArduPlane:FENCE_RET_RALLY)

1.44 Enable stall prevention (ArduPlane:STALL_PREVENTION)

1.45 Minimum Airspeed (ArduPlane:ARSPD_FBW_MIN)

1.46 Maximum Airspeed (ArduPlane:ARSPD_FBW_MAX)

1.47 Fly By Wire elevator reverse (ArduPlane:FBWB_ELEV_REV)

1.48 Use terrain following (ArduPlane:TERRAIN_FOLLOW)

1.49 Terrain lookahead (ArduPlane:TERRAIN_LOOKAHD)

1.50 Fly By Wire B altitude change rate (ArduPlane:FBWB_CLIMB_RATE)

1.51 Minimum Throttle (ArduPlane:THR_MIN)

1.52 Maximum Throttle (ArduPlane:THR_MAX)

1.53 Maximum Throttle for takeoff (ArduPlane:TKOFF_THR_MAX)

1.54 Throttle slew rate (ArduPlane:THR_SLEWRATE)

1.55 Flap slew rate (ArduPlane:FLAP_SLEWRATE)
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1.56 Throttle suppress manual passthru (ArduPlane:THR_SUPP_MAN)

1.57 Throttle passthru in stabilize (ArduPlane:THR_PASS_STAB)

1.58 Throttle Failsafe Enable (ArduPlane:THR_FAILSAFE)

1.59 Throttle Failsafe Value (ArduPlane:THR_FS_VALUE)

1.60 Throttle cruise percentage (ArduPlane:TRIM_THROTTLE)

1.61 Throttle nudge enable (ArduPlane:THROTTLE_NUDGE)

1.62 Short failsafe action (ArduPlane:FS_SHORT_ACTN)

1.63 Short failsafe timeout (ArduPlane:FS_SHORT_TIMEOUT)

1.64 Long failsafe action (ArduPlane:FS_LONG_ACTN)

1.65 Long failsafe timeout (ArduPlane:FS_LONG_TIMEOUT)

1.66 Failsafe battery voltage (ArduPlane:FS_BATT_VOLTAGE)

1.67 Failsafe battery milliAmpHours (ArduPlane:FS_BATT_MAH)

1.68 GCS failsafe enable (ArduPlane:FS_GCS_ENABL)

1.69 Flightmode channel (ArduPlane:FLTMODE_CH)

1.70 FlightMode1 (ArduPlane:FLTMODE1)

1.71 FlightMode2 (ArduPlane:FLTMODE2)

1.72 FlightMode3 (ArduPlane:FLTMODE3)

1.73 FlightMode4 (ArduPlane:FLTMODE4)

1.74 FlightMode5 (ArduPlane:FLTMODE5)

1.75 FlightMode6 (ArduPlane:FLTMODE6)

1.76 Initial flight mode (ArduPlane:INITIAL_MODE)

1.77 Maximum Bank Angle (ArduPlane:LIM_ROLL_CD)

1.78 Maximum Pitch Angle (ArduPlane:LIM_PITCH_MAX)

1.79 Minimum Pitch Angle (ArduPlane:LIM_PITCH_MIN)

1.80 ACRO mode roll rate (ArduPlane:ACRO_ROLL_RATE)

1.81 ACRO mode pitch rate (ArduPlane:ACRO_PITCH_RATE)

1.82 ACRO mode attitude locking (ArduPlane:ACRO_LOCKING)

1.83 Ground steer altitude (ArduPlane:GROUND_STEER_ALT)

1.84 Ground steer rate (ArduPlane:GROUND_STEER_DPS)

1.85 Automatic trim adjustment (ArduPlane:TRIM_AUTO)

1.86 Elevon mixing (ArduPlane:ELEVON_MIXING)

1.87 Elevon reverse (ArduPlane:ELEVON_REVERSE)

1.88 Elevon reverse (ArduPlane:ELEVON_CH1_REV)

1.89 Elevon reverse (ArduPlane:ELEVON_CH2_REV)

1.90 VTail output (ArduPlane:VTAIL_OUTPUT)

1.91 Elevon output (ArduPlane:ELEVON_OUTPUT)

1.92 Mixing Gain (ArduPlane:MIXING_GAIN)

1.93 Num Resets (ArduPlane:SYS_NUM_RESETS)

1.94 Log bitmask (ArduPlane:LOG_BITMASK)

1.95 Reset Switch Channel (ArduPlane:RST_SWITCH_CH)

1.96 Reset Mission Channel (ArduPlane:RST_MISSION_CH)
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1.97 Target airspeed (ArduPlane:TRIM_ARSPD_CM)

1.98 speed used for speed scaling calculations (ArduPlane:SCALING_SPEED)

1.99 Minimum ground speed (ArduPlane:MIN_GNDSPD_CM)

1.100 Pitch angle offset (ArduPlane:TRIM_PITCH_CD)

1.101 RTL altitude (ArduPlane:ALT_HOLD_RTL)

1.102 Minimum altitude for FBWB mode (ArduPlane:ALT_HOLD_FBWCM)

1.103 Enable Compass (ArduPlane:MAG_ENABLE)

1.104 Flap input channel (ArduPlane:FLAP_IN_CHANNEL)

1.105 Flaperon output (ArduPlane:FLAPERON_OUTPUT)

1.106 Flap 1 percentage (ArduPlane:FLAP_1_PERCNT)

1.107 Flap 1 speed (ArduPlane:FLAP_1_SPEED)

1.108 Flap 2 percentage (ArduPlane:FLAP_2_PERCNT)

1.109 Flap 2 speed (ArduPlane:FLAP_2_SPEED)

1.110 Landing flap percentage (ArduPlane:LAND_FLAP_PERCNT)

1.111 PX4IO override channel (ArduPlane:OVERRIDE_CHAN)

1.112 Receiver RSSI sensing pin (ArduPlane:RSSI_PIN)

1.113 Receiver RSSI voltage range (ArduPlane:RSSI_RANGE)

1.114 Inverted flight channel (ArduPlane:INVERTEDFLT_CH)

1.115 HIL mode enable (ArduPlane:HIL_MODE)

1.116 HIL Servos enable (ArduPlane:HIL_SERVOS)

1.117 Limit of error in HIL attitude before reset (ArduPlane:HIL_ERR_LIMIT)

1.118 RTL auto land (ArduPlane:RTL_AUTOLAND)

1.119 RC Trims auto set at start. (ArduPlane:RC_TRIM_AT_START)

1.120 Enable rangefinder for landing (ArduPlane:RNGFND_LANDING)

2 Library Parameters

3 SERIAL Parameters

3.1 Serial0 baud rate (SERIAL0_BAUD)

3.2 Telem1 protocol selection (SERIAL1_PROTOCOL)

3.3 Telem1 Baud Rate (SERIAL1_BAUD)

3.4 Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

3.5 Telemetry 2 Baud Rate (SERIAL2_BAUD)

3.6 Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)

3.7 Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

3.8 Serial4 protocol selection (SERIAL4_PROTOCOL)

3.9 Serial 4 Baud Rate (SERIAL4_BAUD)

4 GND_ Parameters

4.1 Absolute Pressure (GND_ABS_PRESS)

4.2 ground temperature (GND_TEMP)

4.3 altitude offset (GND_ALT_OFFSET)

5 GPS_ Parameters

5.1 GPS type (GPS_TYPE)
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5.2 2nd GPS type (GPS_TYPE2)

5.3 Navigation filter setting (GPS_NAVFILTER)

5.4 Automatic Switchover Setting (GPS_AUTO_SWITCH)

5.5 Minimum Lock Type Accepted for DGPS (GPS_DGPS_MIN_LOCK)

5.6 SBAS Mode (GPS_SBAS_MODE)

5.7 Minimum elevation (GPS_MIN_ELEV)

6 CAM_ Parameters

6.1 Camera shutter (trigger) type (CAM_TRIGG_TYPE)

6.2 Duration that shutter is held open (CAM_DURATION)

6.3 Servo ON PWM value (CAM_SERVO_ON)

6.4 Servo OFF PWM value (CAM_SERVO_OFF)

6.5 Camera trigger distance (CAM_TRIGG_DIST)

7 ARMING_ Parameters

7.1 Require Arming Motors (ARMING_REQUIRE)

7.2 Disable Rudder Arming (ARMING_DIS_RUD)

7.3 Arm Checks to Peform (bitmask) (ARMING_CHECK)

8 RELAY_ Parameters

8.1 First Relay Pin (RELAY_PIN)

8.2 Second Relay Pin (RELAY_PIN2)

8.3 Third Relay Pin (RELAY_PIN3)

8.4 Fourth Relay Pin (RELAY_PIN4)

8.5 Default relay state (RELAY_DEFAULT)

9 RNGFND Parameters

9.1 Rangefinder type (RNGFND_TYPE)

9.2 Rangefinder pin (RNGFND_PIN)

9.3 Rangefinder scaling (RNGFND_SCALING)

9.4 rangefinder offset (RNGFND_OFFSET)

9.5 Rangefinder function (RNGFND_FUNCTION)

9.6 Rangefinder minimum distance (RNGFND_MIN_CM)

9.7 Rangefinder maximum distance (RNGFND_MAX_CM)

9.8 Rangefinder stop pin (RNGFND_STOP_PIN)

9.9 Rangefinder settle time (RNGFND_SETTLE)

9.10 Ratiometric (RNGFND_RMETRIC)

9.11 Powersave range (RNGFNDRNGFND_PWRRNG)

9.12 Second Rangefinder type (RNGFND2_TYPE)

9.13 Rangefinder pin (RNGFND2_PIN)

9.14 Rangefinder scaling (RNGFND2_SCALING)

9.15 rangefinder offset (RNGFND2_OFFSET)

9.16 Rangefinder function (RNGFND2_FUNCTION)

9.17 Rangefinder minimum distance (RNGFND2_MIN_CM)

9.18 Rangefinder maximum distance (RNGFND2_MAX_CM)
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9.19 Rangefinder stop pin (RNGFND2_STOP_PIN)

9.20 Sonar settle time (RNGFND2_SETTLE)

9.21 Ratiometric (RNGFND2_RMETRIC)

10 TERRAIN_ Parameters

10.1 Terrain data enable (TERRAIN_ENABLE)

10.2 Terrain grid spacing (TERRAIN_SPACING)

11 RC1_ Parameters

11.1 RC min PWM (RC1_MIN)

11.2 RC trim PWM (RC1_TRIM)

11.3 RC max PWM (RC1_MAX)

11.4 RC reverse (RC1_REV)

11.5 RC dead­zone (RC1_DZ)

12 RC2_ Parameters

12.1 RC min PWM (RC2_MIN)

12.2 RC trim PWM (RC2_TRIM)

12.3 RC max PWM (RC2_MAX)

12.4 RC reverse (RC2_REV)

12.5 RC dead­zone (RC2_DZ)

13 RC3_ Parameters

13.1 RC min PWM (RC3_MIN)

13.2 RC trim PWM (RC3_TRIM)

13.3 RC max PWM (RC3_MAX)

13.4 RC reverse (RC3_REV)

13.5 RC dead­zone (RC3_DZ)

14 RC4_ Parameters

14.1 RC min PWM (RC4_MIN)

14.2 RC trim PWM (RC4_TRIM)

14.3 RC max PWM (RC4_MAX)

14.4 RC reverse (RC4_REV)

14.5 RC dead­zone (RC4_DZ)

15 RC5_ Parameters

15.1 RC min PWM (RC5_MIN)

15.2 RC trim PWM (RC5_TRIM)

15.3 RC max PWM (RC5_MAX)

15.4 RC reverse (RC5_REV)

15.5 RC dead­zone (RC5_DZ)

15.6 Servo out function (RC5_FUNCTION)

16 RC6_ Parameters

16.1 RC min PWM (RC6_MIN)

16.2 RC trim PWM (RC6_TRIM)

16.3 RC max PWM (RC6_MAX)
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16.4 RC reverse (RC6_REV)

16.5 RC dead­zone (RC6_DZ)

16.6 Servo out function (RC6_FUNCTION)

17 RC7_ Parameters

17.1 RC min PWM (RC7_MIN)

17.2 RC trim PWM (RC7_TRIM)

17.3 RC max PWM (RC7_MAX)

17.4 RC reverse (RC7_REV)

17.5 RC dead­zone (RC7_DZ)

17.6 Servo out function (RC7_FUNCTION)

18 RC8_ Parameters

18.1 RC min PWM (RC8_MIN)

18.2 RC trim PWM (RC8_TRIM)

18.3 RC max PWM (RC8_MAX)

18.4 RC reverse (RC8_REV)

18.5 RC dead­zone (RC8_DZ)

18.6 Servo out function (RC8_FUNCTION)

19 RC9_ Parameters

19.1 RC min PWM (RC9_MIN)

19.2 RC trim PWM (RC9_TRIM)

19.3 RC max PWM (RC9_MAX)

19.4 RC reverse (RC9_REV)

19.5 RC dead­zone (RC9_DZ)

19.6 Servo out function (RC9_FUNCTION)

20 RC10_ Parameters

20.1 RC min PWM (RC10_MIN)

20.2 RC trim PWM (RC10_TRIM)

20.3 RC max PWM (RC10_MAX)

20.4 RC reverse (RC10_REV)

20.5 RC dead­zone (RC10_DZ)

20.6 Servo out function (RC10_FUNCTION)

21 RC11_ Parameters

21.1 RC min PWM (RC11_MIN)

21.2 RC trim PWM (RC11_TRIM)

21.3 RC max PWM (RC11_MAX)

21.4 RC reverse (RC11_REV)

21.5 RC dead­zone (RC11_DZ)

21.6 Servo out function (RC11_FUNCTION)

22 RC12_ Parameters

22.1 RC min PWM (RC12_MIN)

22.2 RC trim PWM (RC12_TRIM)
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22.3 RC max PWM (RC12_MAX)

22.4 RC reverse (RC12_REV)

22.5 RC dead­zone (RC12_DZ)

22.6 Servo out function (RC12_FUNCTION)

23 RC13_ Parameters

23.1 RC min PWM (RC13_MIN)

23.2 RC trim PWM (RC13_TRIM)

23.3 RC max PWM (RC13_MAX)

23.4 RC reverse (RC13_REV)

23.5 RC dead­zone (RC13_DZ)

23.6 Servo out function (RC13_FUNCTION)

24 RC14_ Parameters

24.1 RC min PWM (RC14_MIN)

24.2 RC trim PWM (RC14_TRIM)

24.3 RC max PWM (RC14_MAX)

24.4 RC reverse (RC14_REV)

24.5 RC dead­zone (RC14_DZ)

24.6 Servo out function (RC14_FUNCTION)

25 RLL2SRV_ Parameters

25.1 Roll Time Constant (RLL2SRV_TCONST)

25.2 Proportional Gain (RLL2SRV_P)

25.3 Damping Gain (RLL2SRV_D)

25.4 Integrator Gain (RLL2SRV_I)

25.5 Maximum Roll Rate (RLL2SRV_RMAX)

25.6 Integrator limit (RLL2SRV_IMAX)

26 PTCH2SRV_ Parameters

26.1 Pitch Time Constant (PTCH2SRV_TCONST)

26.2 Proportional Gain (PTCH2SRV_P)

26.3 Damping Gain (PTCH2SRV_D)

26.4 Integrator Gain (PTCH2SRV_I)

26.5 Pitch up max rate (PTCH2SRV_RMAX_UP)

26.6 Pitch down max rate (PTCH2SRV_RMAX_DN)

26.7 Roll compensation (PTCH2SRV_RLL)

26.8 Integrator limit (PTCH2SRV_IMAX)

27 YAW2SRV_ Parameters

27.1 Sideslip control gain (YAW2SRV_SLIP)

27.2 Sidelsip control integrator (YAW2SRV_INT)

27.3 Yaw damping (YAW2SRV_DAMP)

27.4 Yaw coordination gain (YAW2SRV_RLL)

27.5 Integrator limit (YAW2SRV_IMAX)

28 STEER2SRV_ Parameters
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28.1 Steering Time Constant (STEER2SRV_TCONST)

28.2 Steering turning gain (STEER2SRV_P)

28.3 Integrator Gain (STEER2SRV_I)

28.4 Damping Gain (STEER2SRV_D)

28.5 Integrator limit (STEER2SRV_IMAX)

28.6 Minimum speed (STEER2SRV_MINSPD)

29 COMPASS_ Parameters

29.1 Compass offsets on the X axis (COMPASS_OFS_X)

29.2 Compass offsets on the Y axis (COMPASS_OFS_Y)

29.3 Compass offsets on the Z axis (COMPASS_OFS_Z)

29.4 Compass declination (COMPASS_DEC)

29.5 Learn compass offsets automatically (COMPASS_LEARN)

29.6 Use compass for yaw (COMPASS_USE)

29.7 Auto Declination (COMPASS_AUTODEC)

29.8 Motor interference compensation type (COMPASS_MOTCT)

29.9 Motor interference compensation for body frame X axis (COMPASS_MOT_X)

29.10 Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

29.11 Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

29.12 Compass orientation (COMPASS_ORIENT)

29.13 Compass is attached via an external cable (COMPASS_EXTERNAL)

29.14 Compass2 offsets on the X axis (COMPASS_OFS2_X)

29.15 Compass2 offsets on the Y axis (COMPASS_OFS2_Y)

29.16 Compass2 offsets on the Z axis (COMPASS_OFS2_Z)

29.17 Motor interference compensation to compass2 for body frame X axis

(COMPASS_MOT2_X)

29.18 Motor interference compensation to compass2 for body frame Y axis

(COMPASS_MOT2_Y)

29.19 Motor interference compensation to compass2 for body frame Z axis

(COMPASS_MOT2_Z)

29.20 Choose primary compass (COMPASS_PRIMARY)

29.21 Compass3 offsets on the X axis (COMPASS_OFS3_X)

29.22 Compass3 offsets on the Y axis (COMPASS_OFS3_Y)

29.23 Compass3 offsets on the Z axis (COMPASS_OFS3_Z)

29.24 Motor interference compensation to compass3 for body frame X axis

(COMPASS_MOT3_X)

29.25 Motor interference compensation to compass3 for body frame Y axis

(COMPASS_MOT3_Y)

29.26 Motor interference compensation to compass3 for body frame Z axis

(COMPASS_MOT3_Z)

29.27 Compass device id (COMPASS_DEV_ID)

29.28 Compass2 device id (COMPASS_DEV_ID2)
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29.29 Compass3 device id (COMPASS_DEV_ID3)

29.30 Compass2 used for yaw (COMPASS_USE2)

29.31 Compass2 orientation (COMPASS_ORIENT2)

29.32 Compass2 is attached via an external cable (COMPASS_EXTERN2)

29.33 Compass3 used for yaw (COMPASS_USE3)

29.34 Compass3 orientation (COMPASS_ORIENT3)

29.35 Compass3 is attached via an external cable (COMPASS_EXTERN3)

30 SCHED_ Parameters

30.1 Scheduler debug level (SCHED_DEBUG)

31 RCMAP_ Parameters

31.1 Roll channel (RCMAP_ROLL)

31.2 Pitch channel (RCMAP_PITCH)

31.3 Throttle channel (RCMAP_THROTTLE)

31.4 Yaw channel (RCMAP_YAW)

32 SR0_ Parameters

32.1 Raw sensor stream rate (SR0_RAW_SENS)

32.2 Extended status stream rate to ground station (SR0_EXT_STAT)

32.3 RC Channel stream rate to ground station (SR0_RC_CHAN)

32.4 Raw Control stream rate to ground station (SR0_RAW_CTRL)

32.5 Position stream rate to ground station (SR0_POSITION)

32.6 Extra data type 1 stream rate to ground station (SR0_EXTRA1)

32.7 Extra data type 2 stream rate to ground station (SR0_EXTRA2)

32.8 Extra data type 3 stream rate to ground station (SR0_EXTRA3)

32.9 Parameter stream rate to ground station (SR0_PARAMS)

33 SR1_ Parameters

33.1 Raw sensor stream rate (SR1_RAW_SENS)

33.2 Extended status stream rate to ground station (SR1_EXT_STAT)

33.3 RC Channel stream rate to ground station (SR1_RC_CHAN)

33.4 Raw Control stream rate to ground station (SR1_RAW_CTRL)

33.5 Position stream rate to ground station (SR1_POSITION)

33.6 Extra data type 1 stream rate to ground station (SR1_EXTRA1)

33.7 Extra data type 2 stream rate to ground station (SR1_EXTRA2)

33.8 Extra data type 3 stream rate to ground station (SR1_EXTRA3)

33.9 Parameter stream rate to ground station (SR1_PARAMS)

34 SR2_ Parameters

34.1 Raw sensor stream rate (SR2_RAW_SENS)

34.2 Extended status stream rate to ground station (SR2_EXT_STAT)

34.3 RC Channel stream rate to ground station (SR2_RC_CHAN)

34.4 Raw Control stream rate to ground station (SR2_RAW_CTRL)

34.5 Position stream rate to ground station (SR2_POSITION)

34.6 Extra data type 1 stream rate to ground station (SR2_EXTRA1)
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34.7 Extra data type 2 stream rate to ground station (SR2_EXTRA2)

34.8 Extra data type 3 stream rate to ground station (SR2_EXTRA3)

34.9 Parameter stream rate to ground station (SR2_PARAMS)

35 INS_ Parameters

35.1 IMU Product ID (INS_PRODUCT_ID)

35.2 Gyro offsets of X axis (INS_GYROFFS_X)

35.3 Gyro offsets of Y axis (INS_GYROFFS_Y)

35.4 Gyro offsets of Z axis (INS_GYROFFS_Z)

35.5 Gyro2 offsets of X axis (INS_GYR2OFFS_X)

35.6 Gyro2 offsets of Y axis (INS_GYR2OFFS_Y)

35.7 Gyro2 offsets of Z axis (INS_GYR2OFFS_Z)

35.8 Gyro3 offsets of X axis (INS_GYR3OFFS_X)

35.9 Gyro3 offsets of Y axis (INS_GYR3OFFS_Y)

35.10 Gyro3 offsets of Z axis (INS_GYR3OFFS_Z)

35.11 Accelerometer scaling of X axis (INS_ACCSCAL_X)

35.12 Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

35.13 Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

35.14 Accelerometer offsets of X axis (INS_ACCOFFS_X)

35.15 Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

35.16 Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

35.17 Accelerometer2 scaling of X axis (INS_ACC2SCAL_X)

35.18 Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y)

35.19 Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z)

35.20 Accelerometer2 offsets of X axis (INS_ACC2OFFS_X)

35.21 Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y)

35.22 Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z)

35.23 Accelerometer3 scaling of X axis (INS_ACC3SCAL_X)

35.24 Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y)

35.25 Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z)

35.26 Accelerometer3 offsets of X axis (INS_ACC3OFFS_X)

35.27 Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y)

35.28 Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z)

35.29 Gyro filter cutoff frequency (INS_GYRO_FILTER)

35.30 Accel filter cutoff frequency (INS_ACCEL_FILTER)

36 AHRS_ Parameters

36.1 AHRS GPS gain (AHRS_GPS_GAIN)

36.2 AHRS use GPS for navigation (AHRS_GPS_USE)

36.3 Yaw P (AHRS_YAW_P)

36.4 AHRS RP_P (AHRS_RP_P)

36.5 Maximum wind (AHRS_WIND_MAX)

36.6 AHRS Trim Roll (AHRS_TRIM_X)
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36.7 AHRS Trim Pitch (AHRS_TRIM_Y)

36.8 AHRS Trim Yaw (AHRS_TRIM_Z)

36.9 Board Orientation (AHRS_ORIENTATION)

36.10 AHRS Velocity Complmentary Filter Beta Coefficient (AHRS_COMP_BETA)

36.11 AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

36.12 Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_USE)

37 ARSPD_ Parameters

37.1 Airspeed enable (ARSPD_ENABLE)

37.2 Airspeed use (ARSPD_USE)

37.3 Airspeed offset (ARSPD_OFFSET)

37.4 Airspeed ratio (ARSPD_RATIO)

37.5 Airspeed pin (ARSPD_PIN)

37.6 Automatic airspeed ratio calibration (ARSPD_AUTOCAL)

37.7 Control pitot tube order (ARSPD_TUBE_ORDER)

37.8 Skip airspeed calibration on startup (ARSPD_SKIP_CAL)

38 NAVL1_ Parameters

38.1 L1 control period (NAVL1_PERIOD)

38.2 L1 control damping ratio (NAVL1_DAMPING)

39 TECS_ Parameters

39.1 Maximum Climb Rate (metres/sec) (TECS_CLMB_MAX)

39.2 Minimum Sink Rate (metres/sec) (TECS_SINK_MIN)

39.3 Controller time constant (sec) (TECS_TIME_CONST)

39.4 Controller throttle damping (TECS_THR_DAMP)

39.5 Controller integrator (TECS_INTEG_GAIN)

39.6 Vertical Acceleration Limit (metres/sec^2) (TECS_VERT_ACC)

39.7 Height complementary filter frequency (radians/sec) (TECS_HGT_OMEGA)

39.8 Speed complementary filter frequency (radians/sec) (TECS_SPD_OMEGA)

39.9 Bank angle compensation gain (TECS_RLL2THR)

39.10 Weighting applied to speed control (TECS_SPDWEIGHT)

39.11 Controller pitch damping (TECS_PTCH_DAMP)

39.12 Maximum Descent Rate (metres/sec) (TECS_SINK_MAX)

39.13 Airspeed during landing approach (m/s) (TECS_LAND_ARSPD)

39.14 Cruise throttle during landing approach (percentage) (TECS_LAND_THR)

39.15 Weighting applied to speed control during landing. (TECS_LAND_SPDWGT)

39.16 Maximum pitch in auto flight (TECS_PITCH_MAX)

39.17 Minimum pitch in auto flight (TECS_PITCH_MIN)

39.18 Sink rate for final landing stage (TECS_LAND_SINK)

39.19 Land controller time constant (sec) (TECS_LAND_TCONST)

39.20 Controller sink rate to pitch gain during flare (TECS_LAND_DAMP)

39.21 Maximum pitch during final stage of landing (TECS_LAND_PMAX)

40 MNT_ Parameters
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40.1 Mount default operating mode (MNT__DEFLT_MODE)

40.2 Mount roll angle when in retracted position (MNT__RETRACT_X)

40.3 Mount tilt/pitch angle when in retracted position (MNT__RETRACT_Y)

40.4 Mount yaw/pan angle when in retracted position (MNT__RETRACT_Z)

40.5 Mount roll angle when in neutral position (MNT__NEUTRAL_X)

40.6 Mount tilt/pitch angle when in neutral position (MNT__NEUTRAL_Y)

40.7 Mount pan/yaw angle when in neutral position (MNT__NEUTRAL_Z)

40.8 Stabilize mount’s roll angle (MNT__STAB_ROLL)

40.9 Stabilize mount’s pitch/tilt angle (MNT__STAB_TILT)

40.10 Stabilize mount pan/yaw angle (MNT__STAB_PAN)

40.11 roll RC input channel (MNT__RC_IN_ROLL)

40.12 Minimum roll angle (MNT__ANGMIN_ROL)

40.13 Maximum roll angle (MNT__ANGMAX_ROL)

40.14 tilt (pitch) RC input channel (MNT__RC_IN_TILT)

40.15 Minimum tilt angle (MNT__ANGMIN_TIL)

40.16 Maximum tilt angle (MNT__ANGMAX_TIL)

40.17 pan (yaw) RC input channel (MNT__RC_IN_PAN)

40.18 Minimum pan angle (MNT__ANGMIN_PAN)

40.19 Maximum pan angle (MNT__ANGMAX_PAN)

40.20 mount joystick speed (MNT__JSTICK_SPD)

40.21 Roll stabilization lead time (MNT__LEAD_RLL)

40.22 Pitch stabilization lead time (MNT__LEAD_PTCH)

40.23 Mount Type (MNT__TYPE)

40.24 Mount default operating mode (MNT_2_DEFLT_MODE)

40.25 Mount2 roll angle when in retracted position (MNT_2_RETRACT_X)

40.26 Mount2 tilt/pitch angle when in retracted position (MNT_2_RETRACT_Y)

40.27 Mount2 yaw/pan angle when in retracted position (MNT_2_RETRACT_Z)

40.28 Mount2 roll angle when in neutral position (MNT_2_NEUTRAL_X)

40.29 Mount2 tilt/pitch angle when in neutral position (MNT_2_NEUTRAL_Y)

40.30 Mount2 pan/yaw angle when in neutral position (MNT_2_NEUTRAL_Z)

40.31 Stabilize Mount2’s roll angle (MNT_2_STAB_ROLL)

40.32 Stabilize Mount2’s pitch/tilt angle (MNT_2_STAB_TILT)

40.33 Stabilize mount2 pan/yaw angle (MNT_2_STAB_PAN)

40.34 Mount2’s roll RC input channel (MNT_2_RC_IN_ROLL)

40.35 Mount2’s minimum roll angle (MNT_2_ANGMIN_ROL)

40.36 Mount2’s maximum roll angle (MNT_2_ANGMAX_ROL)

40.37 Mount2’s tilt (pitch) RC input channel (MNT_2_RC_IN_TILT)

40.38 Mount2’s minimum tilt angle (MNT_2_ANGMIN_TIL)

40.39 Mount2’s maximum tilt angle (MNT_2_ANGMAX_TIL)

40.40 Mount2’s pan (yaw) RC input channel (MNT_2_RC_IN_PAN)

40.41 Mount2’s minimum pan angle (MNT_2_ANGMIN_PAN)
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40.42 Mount2’s maximum pan angle (MNT_2_ANGMAX_PAN)

40.43 Mount2’s Roll stabilization lead time (MNT_2_LEAD_RLL)

40.44 Mount2’s Pitch stabilization lead time (MNT_2_LEAD_PTCH)

40.45 Mount2 Type (MNT_2_TYPE)

41 BATT_ Parameters

41.1 Battery monitoring (BATT_MONITOR)

41.2 Battery Voltage sensing pin (BATT_VOLT_PIN)

41.3 Battery Current sensing pin (BATT_CURR_PIN)

41.4 Voltage Multiplier (BATT_VOLT_MULT)

41.5 Amps per volt (BATT_AMP_PERVOLT)

41.6 AMP offset (BATT_AMP_OFFSET)

41.7 Battery capacity (BATT_CAPACITY)

41.8 Battery monitoring (BATT_2_MONITOR)

41.9 Battery Voltage sensing pin (BATT_2_VOLT_PIN)

41.10 Battery Current sensing pin (BATT_2_CURR_PIN)

41.11 Voltage Multiplier (BATT_2_VOLT_MULT)

41.12 Amps per volt (BATT_2_AMP_PERVOL)

41.13 AMP offset (BATT_2_AMP_OFFSET)

41.14 Battery capacity (BATT_2_CAPACITY)

42 BRD_ Parameters

42.1 PWM Count (BRD_PWM_COUNT)

42.2 Serial 1 flow control (BRD_SER1_RTSCTS)

42.3 Serial 2 flow control (BRD_SER2_RTSCTS)

42.4 Enable use of safety arming switch (BRD_SAFETYENABLE)

42.5 Enable use of SBUS output (BRD_SBUS_OUT)

43 AFS_ Parameters

43.1 Manual Pin (AFS_MAN_PIN)

43.2 Heartbeat Pin (AFS_HB_PIN)

43.3 Comms Waypoint (AFS_WP_COMMS)

43.4 GPS Loss Waypoint (AFS_GPS_LOSS)

43.5 Force Terminate (AFS_TERMINATE)

43.6 Terminate action (AFS_TERM_ACTION)

43.7 Terminate Pin (AFS_TERM_PIN)

43.8 AMSL limit (AFS_AMSL_LIMIT)

43.9 Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

43.10 QNH pressure (AFS_QNH_PRESSURE)

43.11 Enable Advanced Failsafe (AFS_ENABLE)

43.12 RC failure time (AFS_RC_FAIL_MS)

43.13 Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

43.14 Maximum number of comms loss events (AFS_MAX_COM_LOSS)

44 EKF_ Parameters
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44.1 GPS horizontal velocity measurement noise (m/s) (EKF_VELNE_NOISE)

44.2 GPS vertical velocity measurement noise (m/s) (EKF_VELD_NOISE)

44.3 GPS horizontal position measurement noise (m) (EKF_POSNE_NOISE)

44.4 Altitude measurement noise (m) (EKF_ALT_NOISE)

44.5 Magnetometer measurement noise (Gauss) (EKF_MAG_NOISE)

44.6 Equivalent airspeed measurement noise (m/s) (EKF_EAS_NOISE)

44.7 Wind velocity process noise (m/s^2) (EKF_WIND_PNOISE)

44.8 Height rate to wind procss noise scaler (EKF_WIND_PSCALE)

44.9 Rate gyro noise (rad/s) (EKF_GYRO_PNOISE)

44.10 Accelerometer noise (m/s^2) (EKF_ACC_PNOISE)

44.11 Rate gyro bias process noise (rad/s) (EKF_GBIAS_PNOISE)

44.12 Accelerometer bias process noise (m/s^2) (EKF_ABIAS_PNOISE)

44.13 Earth magnetic field process noise (gauss/s) (EKF_MAGE_PNOISE)

44.14 Body magnetic field process noise (gauss/s) (EKF_MAGB_PNOISE)

44.15 GPS velocity measurement delay (msec) (EKF_VEL_DELAY)

44.16 GPS position measurement delay (msec) (EKF_POS_DELAY)

44.17 GPS velocity mode control (EKF_GPS_TYPE)

44.18 GPS velocity measurement gate size (EKF_VEL_GATE)

44.19 GPS position measurement gate size (EKF_POS_GATE)

44.20 Height measurement gate size (EKF_HGT_GATE)

44.21 Magnetometer measurement gate size (EKF_MAG_GATE)

44.22 Airspeed measurement gate size (EKF_EAS_GATE)

44.23 Magnetometer calibration mode (EKF_MAG_CAL)

44.24 GPS glitch accel gate size (cm/s^2) (EKF_GLITCH_ACCEL)

44.25 GPS glitch radius gate size (m) (EKF_GLITCH_RAD)

44.26 Terrain Gradient % RMS (EKF_GND_GRADIENT)

44.27 Optical flow measurement noise (rad/s) (EKF_FLOW_NOISE)

44.28 Optical Flow measurement gate size (EKF_FLOW_GATE)

44.29 Optical Flow measurement delay (msec) (EKF_FLOW_DELAY)

44.30 Range finder measurement gate size (EKF_RNG_GATE)

44.31 Maximum valid optical flow rate (EKF_MAX_FLOW)

44.32 Fallback strictness (EKF_FALLBACK)

45 FLOW Parameters

45.1 Optical flow enable/disable (FLOWENABLE)

45.2 X axis optical flow scale factor correction (FLOWFXSCALER)

45.3 Y axis optical flow scale factor correction (FLOWFYSCALER)

46 MIS_ Parameters

46.1 Total mission commands (MIS_TOTAL)

46.2 Mission Restart when entering Auto mode (MIS_RESTART)

47 RALLY_ Parameters

47.1 Rally Total (RALLY_TOTAL)
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47.2 Rally Limit (RALLY_LIMIT_KM)

ArduPlane Parameters

Eeprom format version number

(ArduPlane:FORMAT_VERSION)

Note: This parameter is for advanced users

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

Software Type (ArduPlane: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 system ID (ArduPlane:SYSID_THISMAV)

Note: This parameter is for advanced users

The identifier of this device in the MAVLink protocol

Range: 1 255

Ground station MAVLink system ID

(ArduPlane:SYSID_MYGCS)

Note: This parameter is for advanced users

The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also

modify the ground station to match.

Range: 1 255
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CLI Enable (ArduPlane:CLI_ENABLED)

Note: This parameter is for advanced users

This enables/disables the checking for three carriage returns on telemetry links on startup to

enter the diagnostics command line interface

VALUE MEANING

0 Disabled

1 Enabled

Autotune level (ArduPlane:AUTOTUNE_LEVEL)

Level of agressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will

result in a ‘softer’ tune, with less agressive gains. For most users a level of 6 is recommended.

Range: 1 10

Increment: 1

Telemetry startup delay (ArduPlane: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

Rudder Mix (ArduPlane:KFF_RDDRMIX)

The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%

Range: 0 1

Increment: 0.01

Throttle to Pitch Mix (ArduPlane:KFF_THR2PTCH)
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Note: This parameter is for advanced users

Throttle to pitch feed­forward gain.

Range: 0 5

Increment: 0.01

Low throttle pitch down trim

(ArduPlane:STAB_PITCH_DOWN)

Note: This parameter is for advanced users

This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low

throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below

TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below

TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This

parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such

as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is

good for many planes, although a higher value may be needed for high drag aircraft.

Range: 0 15

Increment: 0.1

Units: Degrees

Glide slope threshold (ArduPlane:GLIDE_SLOPE_MIN)

Note: This parameter is for advanced users

This controls the minimum altitude change for a waypoint before a glide slope will be used

instead of an immediate altitude change. The default value is 15 meters, which helps to

smooth out waypoint missions where small altitude changes happen near waypoints. If you

don’t want glide slopes to be used in missions then you can set this to zero, which will disable

glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude

error to the destination waypoint before a glide slope will be used to change altitude.

Range: 0 1000

Increment: 1

Units: meters
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Stick Mixing (ArduPlane:STICK_MIXING)

Note: This parameter is for advanced users

When enabled, this adds user stick input to the control surfaces in auto modes, allowing the

user to have some degree of flight control without changing modes. There are two types of

stick mixing available. If you set STICK_MIXING to 1 then it will use “fly by wire” mixing, which

controls the roll and pitch in the same way that the FBWA mode does. This is the safest option

if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will

enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much

more extreme maneuvers while in AUTO mode.

VALUE MEANING

0 Disabled

1 FBWMixing

2 DirectMixing

Skip gyro calibration (ArduPlane:SKIP_GYRO_CAL)

Note: This parameter is for advanced users

When enabled this tells the APM to skip the normal gyroscope calibration at startup, and

instead use the saved gyro calibration from the last flight. You should only enable this if you

are careful to check that your aircraft has good attitude control before flying, as some boards

may have significantly different gyro calibration between boots, especially if the temperature

changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection

code to get the right gyro calibration in the few minutes after it boots. This option is mostly

useful where the requirement to hold the plane still while it is booting is a significant problem.

VALUE MEANING

0 Disabled

1 Enabled

Use FBWA steering in AUTO
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(ArduPlane:AUTO_FBW_STEER)

Note: This parameter is for advanced users

When enabled this option gives FBWA navigation and steering in AUTO mode. This can be

used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this

enabled the pilot has the same control over the plane as in FBWA mode, and the normal

AUTO navigation is completely disabled. This option is not recommended for normal use.

VALUE MEANING

0 Disabled

1 Enabled

Takeoff throttle min speed

(ArduPlane:TKOFF_THR_MINSPD)

Minimum GPS ground speed in m/s used by the speed check that un­suppresses throttle in

auto­takeoff. This can be be used for catapult launches where you want the motor to engage

only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC

and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with

GPS measurements. For hand launches with a pusher prop it is strongly advised that this

parameter be set to a value no less than 4 m/s to provide additional protection against

premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5

seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.

Range: 0 30

Increment: 0.1

Units: m/s

Takeoff throttle min acceleration

(ArduPlane:TKOFF_THR_MINACC)

Minimum forward acceleration in m/s/s before arming the ground speed check in auto­takeoff.

This is meant to be used for hand launches. Setting this value to 0 disables the acceleration

test which means the ground speed check will always be armed which could allow GPS

velocity jumps to start the engine. For hand launches and bungee launches this should be set

to around 15.
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Range: 0 30

Increment: 0.1

Units: m/s/s

Takeoff throttle delay (ArduPlane:TKOFF_THR_DELAY)

This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is

delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed.

For hand launches with pusher propellers it is essential that this is set to a value of no less

than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the

motor can start. For bungee launches a larger value can be used (such as 30) to give time for

the bungee to release from the aircraft before the motor is started.

Range: 0 127

Increment: 1

Units: 0.1 seconds

Takeoff tail dragger elevator

(ArduPlane:TKOFF_TDRAG_ELEV)

This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is

used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give

maximum steering. This option should be conbined with the TKOFF_TDRAG_SPD1 option and

the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value

of zero means to bypass the initial “tail hold” stage of takeoff. Set to zero for hand and catapult

launch. For tail­draggers you should normally set this to 100, meaning full up elevator during

the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well,

but for some tricycle aircraft a small negative value (say around ­20 to ­30) will apply down

elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only

use a negative value if you find that the nosewheel doesn’t grip well during takeoff. Too much

down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots

around the nosewheel. Add down elevator 10 percent at a time.

Range: ­100 100

Increment: 1

Units: Percent
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Takeoff tail dragger speed1

(ArduPlane:TKOFF_TDRAG_SPD1)

This parameter sets the airspeed at which to stop holding the tail down and transition to rudder

control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the

aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff

pitch specified in the mission will be used to “rotate” the pitch for takeoff climb. Set

TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand

launch and catapult launch. It should also be set to zero for tricycle undercarriages. For tail

dragger aircraft it should be set just below the stall speed.

Range: 0 30

Increment: 0.1

Units: m/s

Takeoff rotate speed (ArduPlane:TKOFF_ROTATE_SPD)

This parameter sets the airspeed at which the aircraft will “rotate”, setting climb pitch specified

in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as

takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero

should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall

speed, usually by about 10 to 30 percent

Range: 0 30

Increment: 0.1

Units: m/s

Takeoff throttle slew rate (ArduPlane:TKOFF_THR_SLEW)

This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the

THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea

to set a lower slewrate for takeoff to give a slower acceleration which can improve ground

steering control. The value is a percentage throttle change per second, so a value of 20 means

to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as

they may cause the plane to try to climb out with too little throttle.

Range: 0 127

Increment: 1
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Units: percent

Takeoff flap percentage (ArduPlane:TKOFF_FLAP_PCNT)

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in automatic takeoff

Range: 0 100

Units: Percent

FBWA taildragger channel

(ArduPlane:FBWA_TDRAG_CHAN)

This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff

mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay

enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the

pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled

the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on

taildraggers in FBWA mode, and also makes it easier to test auto­takeoff steering handling in

FBWA. Setting it to 0 disables this option.

Level flight roll limit (ArduPlane:LEVEL_ROLL_LIMIT)

This controls the maximum bank angle in degrees during flight modes where level flight is

desired, such as in the final stages of landing, and during auto takeoff. This should be a small

angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing.

Setting this to zero will completely disable heading hold on auto takeoff and final landing

approach.

Range: 0 45

Increment: 1

Units: degrees

Landing Pitch (ArduPlane:LAND_PITCH_CD)

Note: This parameter is for advanced users
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Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This

parameter can be used to ensure that the final landing attitude is appropriate for the type of

undercarriage on the aircraft. Note that it is a minimum pitch only – the landing code will control

pitch above this value to try to achieve the configured landing sink rate.

Units: centi­Degrees

Landing flare altitude (ArduPlane:LAND_FLARE_ALT)

Note: This parameter is for advanced users

Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that

this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare

is triggered by LAND_FLARE_SEC.

Increment: 0.1

Units: meters

Landing flare time (ArduPlane:LAND_FLARE_SEC)

Note: This parameter is for advanced users

Vertical time before landing point at which to lock heading and flare with the motor stopped.

This is vertical time, and is calculated based solely on the current height above the ground and

the current descent rate.

Increment: 0.1

Units: seconds

Landing disarm delay (ArduPlane:LAND_DISARMDELAY)

Note: This parameter is for advanced users

After a landing has completed using a LAND waypoint, automatically disarm after this many

seconds have passed. Use 0 to not disarm.

Range: 0 127

Increment: 1
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Units: seconds

Navigation controller selection

(ArduPlane:NAV_CONTROLLER)

Which navigation controller to enable. Currently the only navigation controller available is L1.

From time to time other experimental conrtrollers will be added which are selected using this

parameter.

VALUE MEANING

0 Default

1 L1Controller

GPS to Baro Mix (ArduPlane:ALT_MIX)

Note: This parameter is for advanced users

The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro.

It is highly recommend that you not change this from the default of 1, as GPS altitude is

notoriously unreliable. The only time I would recommend changing this is if you have a high

altitude enabled GPS, and you are dropping a plane from a high altitude baloon many

kilometers off the ground

Range: 0 1

Increment: 0.1

Units: Percent

Altitude control algorithm (ArduPlane:ALT_CTRL_ALG)

Note: This parameter is for advanced users

This sets what algorithm will be used for altitude control. The default is zero, which selects the

most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy

control system). From time to time we will add other experimental altitude control algorithms

which will be seleted using this parameter.
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VALUE MEANING

0 Automatic

Altitude offset (ArduPlane:ALT_OFFSET)

Note: This parameter is for advanced users

This is added to the target altitude in automatic flight. It can be used to add a global altitude

offset to a mission

Range: ­32767 32767

Increment: 1

Units: Meters

Waypoint Radius (ArduPlane:WP_RADIUS)

Defines the maximum distance from a waypoint that when crossed indicates the waypoint may

be complete. To avoid the aircraft looping around the waypoint in case it misses by more than

the WP_RADIUS an additional check is made to see if the aircraft has crossed a “finish line”

passing through the waypoint and perpendicular to the flight path from the previous waypoint. If

that finish line is crossed then the waypoint is considered complete. Note that the navigation

controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp

the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the

usual turn radius of your aircaft and the navigation controller will work out when to turn. If you

set WP_RADIUS too small then you will tend to overshoot the turns.

Range: 1 32767

Increment: 1

Units: Meters

Waypoint Maximum Radius

(ArduPlane:WP_MAX_RADIUS)

Sets the maximum distance to a waypoint for the waypoint to be considered complete. This

overrides the “cross the finish line” logic that is normally used to consider a waypoint complete.

For normal AUTO behaviour this parameter should be set to zero. Using a non­zero value is

only recommended when it is critical that the aircraft does approach within the given radius,
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and should loop around until it has done so. This can cause the aircraft to loop forever if its

turn radius is greater than the maximum radius set.

Range: 0 32767

Increment: 1

Units: Meters

Waypoint Loiter Radius (ArduPlane:WP_LOITER_RAD)

Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set

this value to a negative number then the default loiter direction will be counter­clockwise

instead of clockwise.

Range: ­32767 32767

Increment: 1

Units: Meters

Action on geofence breach (ArduPlane:FENCE_ACTION)

What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is

disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as

the fence return point. If this is set to 2 then the fence breach is reported to the ground station,

but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains

manual throttle control.

VALUE MEANING

0 None

1 GuidedMode

2 ReportOnly

3 GuidedModeThrPass

Fence Total (ArduPlane:FENCE_TOTAL)

Note: This parameter is for advanced users
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Number of geofence points currently loaded

Fence Channel (ArduPlane:FENCE_CHANNEL)

RC Channel to use to enable geofence. PWM input above 1750 enables the geofence

Fence Minimum Altitude (ArduPlane:FENCE_MINALT)

Minimum altitude allowed before geofence triggers

Range: 0 32767

Increment: 1

Units: meters

Fence Maximum Altitude (ArduPlane:FENCE_MAXALT)

Maximum altitude allowed before geofence triggers

Range: 0 32767

Increment: 1

Units: meters

Fence Return Altitude (ArduPlane:FENCE_RETALT)

Altitude the aircraft will transit to when a fence breach occurs. If FENCE_RETALT is <= 0 then

the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless

FENCE_MAXALT < FENCE_MINALT. If FENCE_MAXALT < FENCE_MINALT AND

FENCE_RETALT is <= 0 then ALT_HOLD_RTL is the altitude used on a fence breach.

Range: 0 32767

Increment: 1

Units: meters

Fence automatic enable

(ArduPlane:FENCE_AUTOENABLE)

When set to 1, gefence automatically enables after an auto takeoff and automatically disables

at the beginning of an auto landing. When on the ground before takeoff the fence is disabled. It
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is highly recommended to not use this option for line of sight flying and use a fence enable

channel instead.

VALUE MEANING

0 NoAutoEnable

1 AutoEnable

Fence Return to Rally (ArduPlane:FENCE_RET_RALLY)

When set to 1: on fence breach the plane will return to the nearest rally point rather than the

fence return point. If no rally points have been defined the plane will return to the home point.

VALUE MEANING

0 FenceReturnPoint

1 NearestRallyPoint

Enable stall prevention (ArduPlane:STALL_PREVENTION)

This controls the use of stall prevention techniques, including roll limits at low speed and

raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of

a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly.

Note that if you don’t have an airspeed sensor then stall prevention will use an airspeed

estimate based on the ground speed plus a wind estimate taken from the response of the

autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not

assume that stall prevention with no airspeed sensor will be effective.

VALUE MEANING

0 Disabled

1 Enabled

Minimum Airspeed (ArduPlane:ARSPD_FBW_MIN)

This is the minimum airspeed you want to fly at in modes where the autopilot controls the
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airspeed. This should be set to a value around 20% higher than the level flight stall speed for

the airframe. This value is also used in the STALL_PREVENTION code.

Range: 5 100

Increment: 1

Units: m/s

Maximum Airspeed (ArduPlane:ARSPD_FBW_MAX)

This is the maximum airspeed that you want to allow for your airframe in auto­throttle modes.

You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow

for a sufficient flight envelope to accurately control altitude using airspeed. A value at least

50% above ARSPD_FBW_MIN is recommended.

Range: 5 100

Increment: 1

Units: m/s

Fly By Wire elevator reverse

(ArduPlane:FBWB_ELEV_REV)

Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling

back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.

VALUE MEANING

0 Disabled

1 Enabled

Use terrain following (ArduPlane:TERRAIN_FOLLOW)

This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use

this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching

from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft.

When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain

rather than height above home. In RTL the return to launch altitude will be considered to be a

height above the terrain. Rally point altitudes will be taken as height above the terrain. This
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option does not affect mission items, which have a per­waypoint flag for whether they are

height above home or height above the terrain. To use terrain following missions you need a

ground station which can set the waypoint type to be a terrain height waypoint when creating

the mission.

VALUE MEANING

0 Disabled

1 Enabled

Terrain lookahead (ArduPlane:TERRAIN_LOOKAHD)

This controls how far ahead the terrain following code looks to ensure it stays above upcoming

terrain. A value of zero means no lookahead, so the controller will track only the terrain directly

below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO

mode.

Range: 0 10000

Units: meters

Fly By Wire B altitude change rate

(ArduPlane:FBWB_CLIMB_RATE)

This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for

full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this,

depending on your airspeed and throttle control settings. If you have this parameter set to the

default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would

change the target altitude by 20 meters.

Range: 1­10

Increment: 0.1

Minimum Throttle (ArduPlane:THR_MIN)

The minimum throttle setting (as a percentage) which the autopilot will apply. For the final

stage of an automatic landing this is always zero.
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Range: 0 100

Increment: 1

Units: Percent

Maximum Throttle (ArduPlane:THR_MAX)

The maximum throttle setting (as a percentage) which the autopilot will apply.

Range: 0 100

Increment: 1

Units: Percent

Maximum Throttle for takeoff

(ArduPlane:TKOFF_THR_MAX)

Note: This parameter is for advanced users

The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used

for takeoff as well.

Range: 0 100

Increment: 1

Units: Percent

Throttle slew rate (ArduPlane:THR_SLEWRATE)

maximum percentage change in throttle per second. A setting of 10 means to not change the

throttle by more than 10% of the full throttle range in one second.

Range: 0 127

Increment: 1

Units: Percent

Flap slew rate (ArduPlane:FLAP_SLEWRATE)

Note: This parameter is for advanced users

maximum percentage change in flap output per second. A setting of 25 means to not change
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the flap by more than 25% of the full flap range in one second. A value of 0 means no rate

limiting.

Range: 0 100

Increment: 1

Units: Percent

Throttle suppress manual passthru

(ArduPlane:THR_SUPP_MAN)

Note: This parameter is for advanced users

When throttle is supressed in auto mode it is normally forced to zero. If you enable this option,

then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle

throttle manually while waiting for takeoff

VALUE MEANING

0 Disabled

1 Enabled

Throttle passthru in stabilize

(ArduPlane:THR_PASS_STAB)

Note: This parameter is for advanced users

If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru

from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these

modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses

the throttle below the normal minimum.

VALUE MEANING

0 Disabled

1 Enabled
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Throttle Failsafe Enable (ArduPlane:THR_FAILSAFE)

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

throttle input channel

VALUE MEANING

0 Disabled

1 Enabled

Throttle Failsafe Value (ArduPlane:THR_FS_VALUE)

The PWM level on channel 3 below which throttle sailsafe triggers

Range: 925 1100

Increment: 1

Throttle cruise percentage (ArduPlane:TRIM_THROTTLE)

The target percentage of throttle to apply for normal flight

Range: 0 100

Increment: 1

Units: Percent

Throttle nudge enable (ArduPlane:THROTTLE_NUDGE)

When enabled, this uses the throttle input in auto­throttle modes to ‘nudge’ the throttle or

airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the

target airspeed, so that throttle inputs above 50% will increase the target airspeed from

TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is

enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.

VALUE MEANING

0 Disabled

1 Enabled
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Short failsafe action (ArduPlane:FS_SHORT_ACTN)

The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can

be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see

FS_GCS_ENABL). A short failsafe event in stabilization and manual modes will cause an

change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if

FS_SHORT_ACTN is 2. In all other modes (including AUTO and GUIDED mode) a short

failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change

to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the

documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of

failsafe.

VALUE MEANING

0 Continue

1 Circle/ReturnToLaunch

2 Glide

Short failsafe timeout (ArduPlane:FS_SHORT_TIMEOUT)

The time in seconds that a failsafe condition has to persist before a short failsafe event will

occor. This defaults to 1.5 seconds

Range: 1 100

Increment: 0.5

Units: seconds

Long failsafe action (ArduPlane:FS_LONG_ACTN)

The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was

in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will

change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if

FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED)

when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0,

will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if

FS_LONG_ACTN is set to 2.
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VALUE MEANING

0 Continue

1 ReturnToLaunch

2 Glide

Long failsafe timeout (ArduPlane:FS_LONG_TIMEOUT)

The time in seconds that a failsafe condition has to persist before a long failsafe event will

occor. This defaults to 5 seconds

Range: 1 300

Increment: 0.5

Units: seconds

Failsafe battery voltage (ArduPlane:FS_BATT_VOLTAGE)

Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery

voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL

mode

Increment: 0.1

Units: Volts

Failsafe battery milliAmpHours

(ArduPlane:FS_BATT_MAH)

Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If

the battery remaining drops below this level then the plane will switch to RTL mode

immediately

Increment: 50

Units: mAh

GCS failsafe enable (ArduPlane:FS_GCS_ENABL)

Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT
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seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing

FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not

received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS

failsafe will be triggerded on either a loss of HEARTBEAT messages, or a RADIO_STATUS

message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving

status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being

zero (this may happen if you have a one way link due to asymmetric noise on the ground

station and aircraft radios). WARNING: Enabling this option opens up the possibility of your

plane going into failsafe mode and running the motor on the ground it it loses contact with your

ground station. If this option is enabled on an electric plane then you should enable

ARMING_REQUIRED.

VALUE MEANING

0 Disabled

1 Heartbeat

2 HeartbeatAndREMRSSI

Flightmode channel (ArduPlane:FLTMODE_CH)

Note: This parameter is for advanced users

RC Channel to use for flight mode control

FlightMode1 (ArduPlane:FLTMODE1)

Flight mode for switch position 1 (910 to 1230 and above 2049)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO
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5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided

FlightMode2 (ArduPlane:FLTMODE2)

Flight mode for switch position 2 (1231 to 1360)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO

5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided
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FlightMode3 (ArduPlane:FLTMODE3)

Flight mode for switch position 3 (1361 to 1490)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO

5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided

FlightMode4 (ArduPlane:FLTMODE4)

Flight mode for switch position 4 (1491 to 1620)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO
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5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided

FlightMode5 (ArduPlane:FLTMODE5)

Flight mode for switch position 5 (1621 to 1749)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO

5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided
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FlightMode6 (ArduPlane:FLTMODE6)

Flight mode for switch position 6 (1750 to 2049)

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE

3 TRAINING

4 ACRO

5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided

Initial flight mode (ArduPlane:INITIAL_MODE)

Note: This parameter is for advanced users

This selects the mode to start in on boot. This is useful for when you want to start in AUTO

mode on boot without a receiver.

VALUE MEANING

0 Manual

1 CIRCLE

2 STABILIZE
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3 TRAINING

4 ACRO

5 FBWA

6 FBWB

7 CRUISE

8 AUTOTUNE

10 Auto

11 RTL

12 Loiter

15 Guided

Maximum Bank Angle (ArduPlane:LIM_ROLL_CD)

The maximum commanded bank angle in either direction

Range: 0 9000

Increment: 1

Units: centi­Degrees

Maximum Pitch Angle (ArduPlane:LIM_PITCH_MAX)

The maximum commanded pitch up angle

Range: 0 9000

Increment: 1

Units: centi­Degrees

Minimum Pitch Angle (ArduPlane:LIM_PITCH_MIN)

The minimum commanded pitch down angle

Range: ­9000 0

Increment: 1
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Units: centi­Degrees

ACRO mode roll rate (ArduPlane:ACRO_ROLL_RATE)

The maximum roll rate at full stick deflection in ACRO mode

Range: 10 500

Increment: 1

Units: degrees/second

ACRO mode pitch rate (ArduPlane:ACRO_PITCH_RATE)

The maximum pitch rate at full stick deflection in ACRO mode

Range: 10 500

Increment: 1

Units: degrees/second

ACRO mode attitude locking (ArduPlane:ACRO_LOCKING)

Enable attitude locking when sticks are released

VALUE MEANING

0 Disabled

1 Enabled

Ground steer altitude (ArduPlane:GROUND_STEER_ALT)

Altitude at which to use the ground steering controller on the rudder. If non­zero then the

STEER2SRV controller will be used to control the rudder for altitudes within this limit of the

home altitude.

Range: ­100 100

Increment: 0.1

Units: Meters
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Ground steer rate (ArduPlane:GROUND_STEER_DPS)

Note: This parameter is for advanced users

Ground steering rate in degrees per second for full rudder stick deflection

Range: 10 360

Increment: 1

Units: degrees/second

Automatic trim adjustment (ArduPlane:TRIM_AUTO)

Set RC trim PWM levels to current levels when switching away from manual mode. When this

option is enabled and you change from MANUAL to any other mode then the APM will take the

current position of the control sticks as the trim values for aileron, elevator and rudder. It will

use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as

if a pilot is not aware of this option and changes from MANUAL to another mode while control

inputs are not centered then the trim could be changed to a dangerously bad value. You can

enable this option to assist with trimming your plane, by enabling it before takeoff then

switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch

back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from

MANUAL the APM will take your control inputs as the new trim. After you have good trim on

your aircraft you can disable TRIM_AUTO for future flights.

VALUE MEANING

0 Disabled

1 Enabled

Elevon mixing (ArduPlane:ELEVON_MIXING)

This enables an older form of elevon mixing which is now deprecated. Please see the

ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set

to 0 for elevon planes except for backwards compatibilty with older setups.

VALUE MEANING

0 Disabled
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1 Enabled

Elevon reverse (ArduPlane:ELEVON_REVERSE)

Reverse elevon mixing

VALUE MEANING

0 Disabled

1 Enabled

Elevon reverse (ArduPlane:ELEVON_CH1_REV)

Reverse elevon channel 1

VALUE MEANING

­1 Disabled

1 Enabled

Elevon reverse (ArduPlane:ELEVON_CH2_REV)

Reverse elevon channel 2

VALUE MEANING

­1 Disabled

1 Enabled

VTail output (ArduPlane:VTAIL_OUTPUT)

Enable VTail output in software. If enabled then the APM will provide software VTail mixing on

the elevator and rudder channels. There are 4 different mixing modes available, which refer to

the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use

VTail output mixing with hardware pass­through of RC values, such as with channel 8 manual

control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8
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before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the

output gain of the mixer.

VALUE MEANING

0 Disabled

1 UpUp

2 UpDown

3 DownUp

4 DownDown

Elevon output (ArduPlane:ELEVON_OUTPUT)

Enable software elevon output mixer. If enabled then the APM will provide software elevon

mixing on the aileron and elevator channels. There are 4 different mixing modes available,

which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you

must not use elevon output mixing with hardware pass­through of RC values, such as with

channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to

something other than 8 before you enable ELEVON_OUTPUT. Please also see the

MIXING_GAIN parameter for the output gain of the mixer.

VALUE MEANING

0 Disabled

1 UpUp

2 UpDown

3 DownUp

4 DownDown

Mixing Gain (ArduPlane:MIXING_GAIN)

The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the

mixer doesn’t saturate, allowing both input channels to go to extremes while retaining control

over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can
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saturate. If you don’t have enough throw on your servos with VTAIL_OUTPUT or

ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer

allows outputs in the range 900 to 2100 microseconds.

Range: 0.5 1.2

Num Resets (ArduPlane:SYS_NUM_RESETS)

Note: This parameter is for advanced users

Number of APM board resets

Log bitmask (ArduPlane:LOG_BITMASK)

Note: This parameter is for advanced users

Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of

the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size

of a microSD card means it is usually best just to enable all log types by setting this to 65535.

On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging

or you may run out of log space while flying (in which case it will wrap and overwrite the start of

the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4,

PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128,

Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096,

RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536

VALUE MEANING

0 Disabled

5190 APM2­Default

65535 PX4/Pixhawk­Default

Reset Switch Channel (ArduPlane:RST_SWITCH_CH)

Note: This parameter is for advanced users

RC channel to use to reset to last flight mode after geofence takeover.
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Reset Mission Channel (ArduPlane:RST_MISSION_CH)

Note: This parameter is for advanced users

RC channel to use to reset the mission to the first waypoint. When this channel goes above

1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.

Target airspeed (ArduPlane:TRIM_ARSPD_CM)

Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated

(apparent) airspeed.

Units: cm/s

speed used for speed scaling calculations

(ArduPlane:SCALING_SPEED)

Note: This parameter is for advanced users

Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value

will affect all PID values

Units: m/s

Minimum ground speed (ArduPlane:MIN_GNDSPD_CM)

Note: This parameter is for advanced users

Minimum ground speed in cm/s when under airspeed control

Units: cm/s

Pitch angle offset (ArduPlane:TRIM_PITCH_CD)

Note: This parameter is for advanced users

offset to add to pitch – used for in­flight pitch trimming. It is recommended that instead of using

this parameter you level your plane correctly on the ground for good flight attitude.
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Units: centi­Degrees

RTL altitude (ArduPlane:ALT_HOLD_RTL)

Return to launch target altitude. This is the altitude the plane will aim for and loiter at when

returning home. If this is negative (usually ­1) then the plane will use the current altitude at the

time of entering RTL. Note that when transiting to a Rally Point the alitude of the Rally Point is

used instead of ALT_HOLD_RTL.

Units: centimeters

Minimum altitude for FBWB mode

(ArduPlane:ALT_HOLD_FBWCM)

This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you

attempt to descend below this altitude then the plane will level off. A value of zero means no

limit.

Units: centimeters

Enable Compass (ArduPlane:MAG_ENABLE)

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

compass. Note that this is separate from COMPASS_USE. This will enable the low level senor,

and will enable logging of magnetometer data. To use the compass for navigation you must

also set COMPASS_USE to 1.

VALUE MEANING

0 Disabled

1 Enabled

Flap input channel (ArduPlane:FLAP_IN_CHANNEL)

An RC input channel to use for flaps control. If this is set to a RC channel number then that

channel will be used for manual flaps control. When enabled, the percentage of flaps is taken

as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A
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value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled

in conjunction with a FUNCTION setting on an output channel to one of the flap functions.

When a FLAP_IN_CHANNEL is combined with auto­flaps the higher of the two flap

percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if

using flaperons.

Flaperon output (ArduPlane:FLAPERON_OUTPUT)

Enable flaperon output in software. If enabled then the APM will provide software flaperon

mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION

on two auxillary channels. There are 4 different mixing modes available, which refer to the 4

ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you

must not use flaperon output mixing with hardware pass­through of RC values, such as with

channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to

something other than 8 before you enable FLAPERON_OUTPUT. Please also see the

MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be

combined with ELEVON_OUTPUT or ELEVON_MIXING.

VALUE MEANING

0 Disabled

1 UpUp

2 UpDown

3 DownUp

4 DownDown

Flap 1 percentage (ArduPlane:FLAP_1_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable

flaps

Range: 0 100

Units: Percent
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Flap 1 speed (ArduPlane:FLAP_1_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that

FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

Range: 0 100

Increment: 1

Units: m/s

Flap 2 percentage (ArduPlane:FLAP_2_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable

flaps

Range: 0 100

Units: Percent

Flap 2 speed (ArduPlane:FLAP_2_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that

FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

Range: 0 100

Increment: 1

Units: m/s

Landing flap percentage

(ArduPlane:LAND_FLAP_PERCNT)

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in the landing approach and flare of an
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automatic landing

Range: 0 100

Units: Percent

PX4IO override channel (ArduPlane:OVERRIDE_CHAN)

Note: This parameter is for advanced users

If set to a non­zero value then this is an RC input channel number to use for testing manual

control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input

channel goes above 1750 the FMU will stop sending servo controls to the PX4IO board, which

will trigger the PX4IO board to start using its failsafe override behaviour, which should give you

manual control of the aircraft. That allows you to test for correct manual behaviour without

actually crashing the FMU. This parameter is normally only set to a non­zero value for ground

testing purposes. When the override channel is used it also forces the PX4 safety switch into

an armed state. This allows it to be used as a way to re­arm a plane after an in­flight reboot.

Use in that way is considered a developer option, for people testing unstable developer code.

Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get

PX4IO based override when in flight mode 6. Note that when override is triggered the 6

auxillary output channels on Pixhawk will no longer be updated, so all the flight controls you

need must be assigned to the first 8 channels.

Receiver RSSI sensing pin (ArduPlane:RSSI_PIN)

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

rssi, 0V for minimum

VALUE MEANING

­1 Disabled

0 APM2 A0

1 APM2 A1

13 APM2 A13

103 Pixhawk SBUS
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Receiver RSSI voltage range (ArduPlane:RSSI_RANGE)

Receiver RSSI voltage range

Values: 3.3:3.3V, 5.0:5V

Units: Volt

Inverted flight channel (ArduPlane:INVERTEDFLT_CH)

A RC input channel number to enable inverted flight. If this is non­zero then the APM will

monitor the correcponding RC input channel and will enable inverted flight when the channel

goes above 1750.

VALUE MEANING

0 Disabled

1 Channel1

2 Channel2

3 Channel3

4 Channel4

5 Channel5

6 Channel6

7 Channel7

8 Channel8

HIL mode enable (ArduPlane:HIL_MODE)

Note: This parameter is for advanced users

This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next

reboot all sensors are replaced with HIL sensors which come from the GCS.

VALUE MEANING

0 Disabled
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1 Enabled

HIL Servos enable (ArduPlane:HIL_SERVOS)

Note: This parameter is for advanced users

This controls whether real servo controls are used in HIL mode. If you enable this then the

APM will control the real servos in HIL mode. If disabled it will report servo values, but will not

output to the real servos. Be careful that your motor and propeller are not connected if you

enable this option.

VALUE MEANING

0 Disabled

1 Enabled

Limit of error in HIL attitude before reset

(ArduPlane:HIL_ERR_LIMIT)

Note: This parameter is for advanced users

This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude

to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a

major attitude error. If the value is zero then no limit applies.

Range: 0 90

Increment: 0.1

Units: degrees

RTL auto land (ArduPlane:RTL_AUTOLAND)

Automatically begin landing sequence after arriving at RTL location. This requires the addition

of a DO_LAND_START mission item, which acts as a marker for the start of a landing

sequence. The closest landing sequence will be chosen to the current location.

VALUE MEANING
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0 Disable

1 Enable

RC Trims auto set at start.

(ArduPlane:RC_TRIM_AT_START)

Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC

transmitter has not been altered since trims were last captured.

VALUE MEANING

0 Disable

1 Enable

Enable rangefinder for landing

(ArduPlane:RNGFND_LANDING)

This enables the use of a rangefinder for automatic landing. The rangefinder will be used both

on the landing approach and for final flare

VALUE MEANING

0 Disabled

1 Enabled

Library Parameters

SERIAL Parameters

Serial0 baud rate (SERIAL0_BAUD)

The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and

also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot

support on APM2 and then can’t connect to your board you should load a firmware from a
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different vehicle type. That will reset all your parameters to defaults.

VALUE MEANING

1 1200

2 2400

4 4800

9 9600

19 19200

38 38400

57 57600

111 111100

115 115200

500 500000

921 921600

1500 1500000

Telem1 protocol selection (SERIAL1_PROTOCOL)

Control what protocol to use on the Telem1 port. Note that the Frsky options require external

converter hardware. See the wiki for details.

VALUE MEANING

1 GCS Mavlink

2 GCS Mavlink (2nd)

3 Frsky D­PORT

4 Frsky S­PORT

5 GPS

6 2nd GPS
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7 Alexmos Gimbal Serial

Telem1 Baud Rate (SERIAL1_BAUD)

The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and

also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot

support on APM2 and then can’t connect to your board you should load a firmware from a

different vehicle type. That will reset all your parameters to defaults.

VALUE MEANING

1 1200

2 2400

4 4800

9 9600

19 19200

38 38400

57 57600

111 111100

115 115200

500 500000

921 921600

1500 1500000

Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

Control what protocol to use on the Telem2 port. Note that the Frsky options require external

converter hardware. See the wiki for details.

VALUE MEANING

1 GCS Mavlink

2 GCS Mavlink (2nd)
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3 Frsky D­PORT

4 Frsky S­PORT

5 GPS

6 GPS (2nd)

7 Alexmos Gimbal Serial

Telemetry 2 Baud Rate (SERIAL2_BAUD)

The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also

can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot

support on APM2 and then can’t connect to your board you should load a firmware from a

different vehicle type. That will reset all your parameters to defaults.

VALUE MEANING

1 1200

2 2400

4 4800

9 9600

19 19200

38 38400

57 57600

111 111100

115 115200

500 500000

921 921600

1500 1500000

Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)
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Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require

external converter hardware. See the wiki for details.

VALUE MEANING

1 GCS Mavlink

2 GCS Mavlink (2nd)

3 Frsky D­PORT

4 Frsky S­PORT

5 GPS

6 GPS (2nd)

7 Alexmos Gimbal Serial

Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and

also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot

support on APM2 and then can’t connect to your board you should load a firmware from a

different vehicle type. That will reset all your parameters to defaults.

VALUE MEANING

1 1200

2 2400

4 4800

9 9600

19 19200

38 38400

57 57600

111 111100

115 115200
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500 500000

921 921600

1500 1500000

Serial4 protocol selection (SERIAL4_PROTOCOL)

Control what protocol Serial4 port should be used for. Note that the Frsky options require

external converter hardware. See the wiki for details.

VALUE MEANING

1 GCS Mavlink

2 GCS Mavlink (2nd)

3 Frsky D­PORT

4 Frsky S­PORT

5 GPS

6 GPS (2nd)

7 Alexmos Gimbal Serial

Serial 4 Baud Rate (SERIAL4_BAUD)

The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can

support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support

on APM2 and then can’t connect to your board you should load a firmware from a different

vehicle type. That will reset all your parameters to defaults.

VALUE MEANING

1 1200

2 2400

4 4800

9 9600

19 19200
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38 38400

57 57600

111 111100

115 115200

500 500000

921 921600

1500 1500000

GND_ Parameters

Absolute Pressure (GND_ABS_PRESS)

calibrated ground pressure in Pascals

Units: pascals

Increment: 1

ground temperature (GND_TEMP)

calibrated ground temperature in degrees Celsius

Units: 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
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Units: meters

GPS_ Parameters

GPS type (GPS_TYPE)

GPS type

VALUE MEANING

0 None

1 AUTO

2 uBlox

3 MTK

4 MTK19

5 NMEA

6 SiRF

7 HIL

8 SwiftNav

9 PX4EXPERIMENTAL

2nd GPS type (GPS_TYPE2)

GPS type of 2nd GPS

VALUE MEANING

0 None

1 AUTO

2 uBlox

3 MTK
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4 MTK19

5 NMEA

6 SiRF

7 HIL

8 SwiftNav

9 PX4EXPERIMENTAL

Navigation filter setting (GPS_NAVFILTER)

Navigation filter engine setting

VALUE MEANING

0 Portable

2 Stationary

3 Pedestrian

4 Automotive

5 Sea

6 Airborne1G

7 Airborne2G

8 Airborne4G

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

VALUE MEANING

0 Disabled

1 Enabled
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Minimum Lock Type Accepted for DGPS

(GPS_DGPS_MIN_LOCK)

Note: This parameter is for advanced users

Sets the minimum type of differential GPS corrections required before allowing to switch into

DGPS mode.

VALUE MEANING

0 Any

50 FloatRTK

100 IntegerRTK

SBAS Mode (GPS_SBAS_MODE)

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set

to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured

to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where

an SBAS signal is available but the baseline is too long to be useful.

VALUE MEANING

0 Disabled

1 Enabled

2 NoChange

Minimum elevation (GPS_MIN_ELEV)

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for

navigation. Setting this to ­100 leaves the minimum elevation set to the GPS modules default.
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Range: ­100 90

Units: Degrees

CAM_ Parameters

Camera shutter (trigger) type (CAM_TRIGG_TYPE)

how to trigger the camera to take a picture

VALUE MEANING

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

Units: seconds

Servo ON PWM value (CAM_SERVO_ON)

PWM value to move servo to when shutter is activated

Range: 1000 2000

Units: pwm

Servo OFF PWM value (CAM_SERVO_OFF)

PWM value to move servo to when shutter is deactivated

Range: 1000 2000

Units: pwm
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Camera trigger distance (CAM_TRIGG_DIST)

Distance in meters between camera triggers. If this value is non­zero then the camera will

trigger whenever the GPS position changes by this number of meters regardless of what mode

the APM is in. Note that this parameter can also be set in an auto mission using the

DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the

camera during the flight.

Range: 0 1000

Units: meters

ARMING_ Parameters

Require Arming Motors (ARMING_REQUIRE)

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm

immediately). If 1, require rudder stick or GCS arming before arming motors and send

THR_MIN PWM to throttle channel when disarmed. If 2, require rudder stick or GCS arming

and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters

to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is

required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK

parameter is not also zero the plane may fail to arm throttle at boot due to a pre­arm check

failure.

VALUE MEANING

0 Disabled

1 THR_MIN PWM when disarmed

2 0 PWM when disarmed

Disable Rudder Arming (ARMING_DIS_RUD)

Note: This parameter is for advanced users
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Do not allow arming via the rudder input stick.

VALUE MEANING

0 Disabled (Rudder Arming Allowed)

1 Enabled(No Rudder Arming)

Arm Checks to Peform (bitmask) (ARMING_CHECK)

Note: This parameter is for advanced users

Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing

arming. The default is no checks, allowing arming at any time. You can select whatever checks

you prefer by adding together the values of each check type to set this parameter. For

example, to only allow arming when you have GPS lock and no RC failsafe you would set

ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all

checks.

VALUE MEANING

0 None

1 All

2 Barometer

4 Compass

8 GPS

16 INS

32 Parameters

64 RC Failsafe

128 Board voltage

256 Battery Level

512 Airspeed

1024 LoggingAvailable
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RELAY_ Parameters

First Relay Pin (RELAY_PIN)

Digital pin number for first relay control. This is the pin used for camera control.

VALUE MEANING

­1 Disabled

13 APM2 A9 pin

47 APM1 relay

50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3

53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5

55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1

116 PX4IO ACC2

Second Relay Pin (RELAY_PIN2)

Digital pin number for 2nd relay control.

VALUE MEANING

­1 Disabled
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13 APM2 A9 pin

47 APM1 relay

50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3

53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5

55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1

116 PX4IO ACC2

Third Relay Pin (RELAY_PIN3)

Digital pin number for 3rd relay control.

VALUE MEANING

­1 Disabled

13 APM2 A9 pin

47 APM1 relay

50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3

53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5
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55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1

116 PX4IO ACC2

Fourth Relay Pin (RELAY_PIN4)

Digital pin number for 4th relay control.

VALUE MEANING

­1 Disabled

13 APM2 A9 pin

47 APM1 relay

50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3

53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5

55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1
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116 PX4IO ACC2

Default relay state (RELAY_DEFAULT)

The state of the relay on boot.

VALUE MEANING

0 Off

1 On

2 NoChange

RNGFND Parameters

Rangefinder type (RNGFND_TYPE)

What type of rangefinder device that is connected

VALUE MEANING

0 None

1 Analog

2 APM2­MaxbotixI2C

3 APM2­PulsedLightI2C

4 PX4­I2C

5 PX4­PWM

Rangefinder pin (RNGFND_PIN)

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64

on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the

analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.
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VALUE MEANING

­1 Not Used

0 APM2­A0

1 APM2­A1

2 APM2­A2

3 APM2­A3

4 APM2­A4

5 APM2­A5

6 APM2­A6

7 APM2­A7

8 APM2­A8

9 APM2­A9

11 PX4­airspeed port

15 Pixhawk­airspeed port

64 APM1­airspeed port

Rangefinder scaling (RNGFND_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions

this is in meters per volt. For the hyperbolic function the units are meterVolts.

Units: meters/Volt

Increment: 0.001

rangefinder offset (RNGFND_OFFSET)

Offset in volts for zero distance

Units: Volts

Increment: 0.001
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Rangefinder function (RNGFND_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is

(voltage­offset)*scaling. For a inverted function the distance is (offset­voltage)*scaling. For a

hyperbolic function the distance is scaling/(voltage­offset). The functions return the distance in

meters.

VALUE MEANING

0 Linear

1 Inverted

2 Hyperbolic

Rangefinder minimum distance (RNGFND_MIN_CM)

Minimum distance in centimeters that rangefinder can reliably read

Units: centimeters

Increment: 1

Rangefinder maximum distance (RNGFND_MAX_CM)

Maximum distance in centimeters that rangefinder can reliably read

Units: centimeters

Increment: 1

Rangefinder stop pin (RNGFND_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value

of ­1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0

to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with

each other.

VALUE MEANING

­1 Not Used
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50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3

53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5

55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1

116 PX4IO ACC2

Rangefinder settle time (RNGFND_SETTLE)

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a

STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a

reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m

this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target

and back again.

Units: milliseconds

Increment: 1

Ratiometric (RNGFND_RMETRIC)

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders

are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some

analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are

not ratiometric.

VALUE MEANING
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0 No

1 Yes

Powersave range (RNGFNDRNGFND_PWRRNG)

This parameter sets the estimated terrain distance in meters above which the sensor will be

put into a power saving mode (if available). A value of zero means power saving is not enabled

Units: meters

Range: 0 32767

Second Rangefinder type (RNGFND2_TYPE)

What type of rangefinder device that is connected

VALUE MEANING

0 None

1 Analog

2 APM2­MaxbotixI2C

3 APM2­PulsedLightI2C

4 PX4­I2C

5 PX4­PWM

Rangefinder pin (RNGFND2_PIN)

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64

on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the

analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

VALUE MEANING

­1 Not Used

0 APM2­A0
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1 APM2­A1

2 APM2­A2

3 APM2­A3

4 APM2­A4

5 APM2­A5

6 APM2­A6

7 APM2­A7

8 APM2­A8

9 APM2­A9

11 PX4­airspeed port

15 Pixhawk­airspeed port

64 APM1­airspeed port

Rangefinder scaling (RNGFND2_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions

this is in meters per volt. For the hyperbolic function the units are meterVolts.

Units: meters/Volt

Increment: 0.001

rangefinder offset (RNGFND2_OFFSET)

Offset in volts for zero distance

Units: Volts

Increment: 0.001

Rangefinder function (RNGFND2_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is

(voltage­offset)*scaling. For a inverted function the distance is (offset­voltage)*scaling. For a

hyperbolic function the distance is scaling/(voltage­offset). The functions return the distance in
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meters.

VALUE MEANING

0 Linear

1 Inverted

2 Hyperbolic

Rangefinder minimum distance (RNGFND2_MIN_CM)

Minimum distance in centimeters that rangefinder can reliably read

Units: centimeters

Increment: 1

Rangefinder maximum distance (RNGFND2_MAX_CM)

Maximum distance in centimeters that rangefinder can reliably read

Units: centimeters

Increment: 1

Rangefinder stop pin (RNGFND2_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value

of ­1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0

to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with

each other.

VALUE MEANING

­1 Not Used

50 Pixhawk AUXOUT1

51 Pixhawk AUXOUT2

52 Pixhawk AUXOUT3
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53 Pixhawk AUXOUT4

54 Pixhawk AUXOUT5

55 Pixhawk AUXOUT6

111 PX4 FMU Relay1

112 PX4 FMU Relay2

113 PX4IO Relay1

114 PX4IO Relay2

115 PX4IO ACC1

116 PX4IO ACC2

Sonar settle time (RNGFND2_SETTLE)

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a

STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a

reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m

this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target

and back again.

Units: milliseconds

Increment: 1

Ratiometric (RNGFND2_RMETRIC)

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders

are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some

analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are

not ratiometric.

VALUE MEANING

0 No

1 Yes
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TERRAIN_ Parameters

Terrain data enable (TERRAIN_ENABLE)

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card.

The terrain data is requested from the ground station as needed, and stored for later use on

the SD card. To be useful the ground station must support TERRAIN_REQUEST messages

and have access to a terrain database, such as the SRTM database.

VALUE MEANING

0 Disable

1 Enable

Terrain grid spacing (TERRAIN_SPACING)

Distance between terrain grid points in meters. This controls the horizontal resolution of the

terrain data that is stored on te SD card and requested from the ground station. If your GCS is

using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some

parts of the world may have higher resolution data available, such as 30 meter data available

in the SRTM database in the USA. The grid spacing also controls how much data is kept in

memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A

grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each

grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are

stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

Units: meters

Increment: 1

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
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limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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: pwm

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.

VALUE MEANING

­1 Reversed
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1 Normal

RC dead­zone (RC1_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

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: pwm

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: pwm

RC max PWM (RC2_MAX)
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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: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC2_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

RC3_ Parameters

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users
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RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper

limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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: pwm

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.

VALUE MEANING
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­1 Reversed

1 Normal

RC dead­zone (RC3_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

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: pwm

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: pwm
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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: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC4_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

RC5_ Parameters

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users
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RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper

limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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: pwm

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.

VALUE MEANING
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­1 Reversed

1 Normal

RC dead­zone (RC5_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC5_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

6 mount_pan

7 mount_tilt

8 mount_roll

9 mount_open

10 camera_trigger

11 release

12 mount2_pan

13 mount2_tilt
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14 mount2_roll

15 mount2_open

16 DifferentialSpoiler1

17 DifferentialSpoiler2

18 AileronWithInput

19 Elevator

20 ElevatorWithInput

21 Rudder

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

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: pwm

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
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upper limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC6_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm
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Servo out function (RC6_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

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

24 Flaperon1
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25 Flaperon2

26 GroundSteering

27 Parachute

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: pwm

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: pwm

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.
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Range: 800 2200

Increment: 1

Units: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC7_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC7_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto
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4 Aileron

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

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

RC8_ Parameters

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users
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RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper

limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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: pwm

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.

VALUE MEANING
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­1 Reversed

1 Normal

RC dead­zone (RC8_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC8_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

6 mount_pan

7 mount_tilt

8 mount_roll

9 mount_open

10 camera_trigger

11 release

12 mount2_pan

13 mount2_tilt
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14 mount2_roll

15 mount2_open

16 DifferentialSpoiler1

17 DifferentialSpoiler2

18 AileronWithInput

19 Elevator

20 ElevatorWithInput

21 Rudder

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

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: pwm

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
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upper limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC9_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm
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Servo out function (RC9_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

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

24 Flaperon1
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25 Flaperon2

26 GroundSteering

27 Parachute

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: pwm

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: pwm

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.
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Range: 800 2200

Increment: 1

Units: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC10_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC10_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto
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4 Aileron

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

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

RC11_ Parameters

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users
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RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper

limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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: pwm

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.

VALUE MEANING
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­1 Reversed

1 Normal

RC dead­zone (RC11_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC11_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

6 mount_pan

7 mount_tilt

8 mount_roll

9 mount_open

10 camera_trigger

11 release

12 mount2_pan

13 mount2_tilt
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14 mount2_roll

15 mount2_open

16 DifferentialSpoiler1

17 DifferentialSpoiler2

18 AileronWithInput

19 Elevator

20 ElevatorWithInput

21 Rudder

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

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: pwm

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
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upper limit.

Range: 800 2200

Increment: 1

Units: pwm

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: pwm

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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC12_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm
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Servo out function (RC12_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

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

24 Flaperon1
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25 Flaperon2

26 GroundSteering

27 Parachute

RC13_ Parameters

RC min PWM (RC13_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: pwm

RC trim PWM (RC13_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: pwm

RC max PWM (RC13_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.
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Range: 800 2200

Increment: 1

Units: pwm

RC reverse (RC13_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.

VALUE MEANING

­1 Reversed

1 Normal

RC dead­zone (RC13_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC13_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto
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4 Aileron

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

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

RC14_ Parameters

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users
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RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper

limit.

Range: 800 2200

Increment: 1

Units: pwm

RC trim PWM (RC14_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: pwm

RC max PWM (RC14_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: pwm

RC reverse (RC14_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.

VALUE MEANING
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­1 Reversed

1 Normal

RC dead­zone (RC14_DZ)

Note: This parameter is for advanced users

dead zone around trim.

Range: 0 200

Units: pwm

Servo out function (RC14_FUNCTION)

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo

set commands. any other value will enable the corresponding function

VALUE MEANING

0 Disabled

1 RCPassThru

2 Flap

3 Flap_auto

4 Aileron

6 mount_pan

7 mount_tilt

8 mount_roll

9 mount_open

10 camera_trigger

11 release

12 mount2_pan

13 mount2_tilt
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14 mount2_roll

15 mount2_open

16 DifferentialSpoiler1

17 DifferentialSpoiler2

18 AileronWithInput

19 Elevator

20 ElevatorWithInput

21 Rudder

24 Flaperon1

25 Flaperon2

26 GroundSteering

27 Parachute

RLL2SRV_ Parameters

Roll Time Constant (RLL2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved bank angle. A value of

0.5 is a good default and will work with nearly all models. Advanced users may want to reduce

this time to obtain a faster response but there is no point setting a time less than the aircraft

can achieve.

Range: 0.4 1.0

Increment: 0.1

Units: seconds

Proportional Gain (RLL2SRV_P)

This is the gain from bank angle to aileron. This gain works the same way as the P term in the
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old PID (RLL2SRV_P) and can be set to the same value.

Range: 0.1 4.0

Increment: 0.1

Damping Gain (RLL2SRV_D)

This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has

the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo

demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01

increments as too high a value can lead to a high frequency roll oscillation that could

overstress the airframe.

Range: 0 0.1

Increment: 0.01

Integrator Gain (RLL2SRV_I)

This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I

in the old PID controller. Increasing this gain causes the controller to trim out steady offsets

due to an out of trim aircraft.

Range: 0 1.0

Increment: 0.05

Maximum Roll Rate (RLL2SRV_RMAX)

Note: This parameter is for advanced users

This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero

disables the limit. If this value is set too low, then the roll can’t keep up with the navigation

demands and the plane will start weaving. If it is set too high (or disabled by setting to zero)

then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good

default.

Range: 0 180

Increment: 1

Units: degrees/second
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Integrator limit (RLL2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of degrees of aileron in centi­degrees over which the integrator will

operate. At the default setting of 3000 centi­degrees, the integrator will be limited to +­ 30

degrees of servo travel. The maximum servo deflection is +­ 45 centi­degrees, so the default

value represents a 2/3rd of the total control throw which is adequate unless the aircraft is

severely out of trim.

Range: 0 4500

Increment: 1

PTCH2SRV_ Parameters

Pitch Time Constant (PTCH2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved pitch angle. A value of

0.5 is a good default and will work with nearly all models. Advanced users may want to reduce

this time to obtain a faster response but there is no point setting a time less than the aircraft

can achieve.

Range: 0.4 1.0

Increment: 0.1

Units: seconds

Proportional Gain (PTCH2SRV_P)

This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P

in the old PID controller and can be set to the same value.

Range: 0.1 3.0

Increment: 0.1

Damping Gain (PTCH2SRV_D)
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This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It

has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same

value, but without the spikes in servo demands. This gain helps to reduce pitching in

turbulence. Some airframes such as flying wings that have poor pitch damping can benefit

from increasing this gain term. This should be increased in 0.01 increments as too high a value

can lead to a high frequency pitch oscillation that could overstress the airframe.

Range: 0 0.1

Increment: 0.01

Integrator Gain (PTCH2SRV_I)

This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in

the old PID controller and can be set to the same value. Increasing this gain causes the

controller to trim out constant offsets between demanded and measured pitch angle.

Range: 0 0.5

Increment: 0.05

Pitch up max rate (PTCH2SRV_RMAX_UP)

Note: This parameter is for advanced users

This sets the maximum nose up pitch rate that the controller will demand (degrees/sec).

Setting it to zero disables the limit.

Range: 0 100

Increment: 1

Units: degrees/second

Pitch down max rate (PTCH2SRV_RMAX_DN)

Note: This parameter is for advanced users

This sets the maximum nose down pitch rate that the controller will demand (degrees/sec).

Setting it to zero disables the limit.

Range: 0 100
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Increment: 1

Units: degrees/second

Roll compensation (PTCH2SRV_RLL)

This is the gain term that is applied to the pitch rate offset calculated as required to keep the

nose level during turns. The default value is 1 which will work for all models. Advanced users

can use it to correct for height variation in turns. If height is lost initially in turns this can be

increased in small increments of 0.05 to compensate. If height is gained initially in turns then it

can be decreased.

Range: 0.7 1.5

Increment: 0.05

Integrator limit (PTCH2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of centi­degrees of elevator over which the integrator will operate. At the

default setting of 3000 centi­degrees, the integrator will be limited to +­ 30 degrees of servo

travel. The maximum servo deflection is +­ 45 degrees, so the default value represents a 2/3rd

of the total control throw which is adequate for most aircraft unless they are severely out of trim

or have very limited elevator control effectiveness.

Range: 0 4500

Increment: 1

YAW2SRV_ Parameters

Sideslip control gain (YAW2SRV_SLIP)

This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to

zero unless active control of sideslip is desired. This will only work effectively if there is enough

fuselage side area to generate a measureable lateral acceleration when the model sideslips.

Flying wings and most gliders cannot use this term. This term should only be adjusted after the

basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain

has been set. Set this gain to zero if only yaw damping is required.
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Range: 0 4

Increment: 0.25

Sidelsip control integrator (YAW2SRV_INT)

This is the integral gain from lateral acceleration error. This gain should only be non­zero if

active control over sideslip is desired. If active control over sideslip is required then this can be

set to 1.0 as a first try.

Range: 0 2

Increment: 0.25

Yaw damping (YAW2SRV_DAMP)

This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw

damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and

YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping

term is zero then the integrator will also be disabled.

Range: 0 2

Increment: 0.25

Yaw coordination gain (YAW2SRV_RLL)

This is the gain term that is applied to the yaw rate offset calculated as required to keep the

yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will

work for all models. Advanced users can use it to correct for any tendency to yaw away from or

into the turn once the turn is established. Increase to make the model yaw more initially and

decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are

required then it normally indicates a problem with the airspeed calibration.

Range: 0.8 1.2

Increment: 0.05

Integrator limit (YAW2SRV_IMAX)

Note: This parameter is for advanced users