APMParameterFactMetaData.Plane.3.8.xml 500 KB
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<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduPlane">
<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
</param>
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<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
</param>
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<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
<field name="Range">1 255</field>
</param>
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<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
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<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less aggressive gains. For most users a level of 6 is recommended." user="Standard">
<field name="Range">1 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 30</field>
<field name="Increment">1</field>
30 31
<field name="Units">s</field>
<field name="UnitText">seconds</field>
32 33
</param>
<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
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<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing</field>
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</param>
<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="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." user="Advanced">
<field name="Range">0 15</field>
<field name="Increment">0.1</field>
47 48
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
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</param>
<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="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." user="Advanced">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
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<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
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<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='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.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">FBWMixing</value>
<value code="2">DirectMixing</value>
</values>
</param>
<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="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." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="42">Enabled</value>
</values>
</param>
<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. 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." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
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<field name="UnitText">meters per second</field>
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</param>
<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. 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." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
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<field name="UnitText">meters per square second</field>
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</param>
<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="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." user="User">
<field name="Range">0 127</field>
<field name="Increment">1</field>
90 91
<field name="Units">ds</field>
<field name="UnitText">deciseconds</field>
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</param>
<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="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 combined 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 &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers 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." user="User">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
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<field name="Units">%</field>
<field name="UnitText">percent</field>
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</param>
<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='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 unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
103
<field name="UnitText">meters per second</field>
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</param>
<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='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' user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
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<field name="UnitText">meters per second</field>
110
</param>
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<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="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." user="User">
<field name="Range">0 127</field>
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<field name="Increment">1</field>
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<field name="Units">%/s</field>
<field name="UnitText">percent per second</field>
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</param>
<param humanName="Takeoff pitch limit reduction" name="ArduPlane:TKOFF_PLIM_SEC" documentation="This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">0.5</field>
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<field name="Units">s</field>
<field name="UnitText">seconds</field>
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</param>
<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
<field name="Range">0 100</field>
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<field name="Units">%</field>
<field name="UnitText">percent</field>
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</param>
<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="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 auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
</param>
<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="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." user="User">
<field name="Range">0 45</field>
<field name="Increment">1</field>
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<field name="Units">deg</field>
<field name="UnitText">degrees</field>
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</param>
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<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
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<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
</param>
<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
<values>
<value code="0">Default</value>
<value code="1">L1Controller</value>
</values>
</param>
<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="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 selected using this parameter." user="Advanced">
<values>
<value code="0">Automatic</value>
</values>
</param>
<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
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<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='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 aircraft 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.' user="Standard">
<field name="Range">1 32767</field>
<field name="Increment">1</field>
159 160
<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='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 non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, 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.' user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
165 166
<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="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 counter-clockwise instead of clockwise." user="Standard">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
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<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
177 178
<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="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. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points)." user="Standard">
<values>
<value code="0">None</value>
<value code="1">GuidedMode</value>
<value code="2">ReportOnly</value>
<value code="3">GuidedModeThrPass</value>
<value code="4">RTL_Mode</value>
</values>
</param>
<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
</param>
<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
</param>
<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
196 197
<field name="Units">m</field>
<field name="UnitText">meters</field>
198 199 200 201
</param>
<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
202 203
<field name="Units">m</field>
<field name="UnitText">meters</field>
204 205 206 207
</param>
<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
208 209
<field name="Units">m</field>
<field name="UnitText">meters</field>
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</param>
<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence 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.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
<values>
<value code="0">NoAutoEnable</value>
<value code="1">AutoEnable</value>
<value code="2">AutoEnableDisableFloorOnly</value>
</values>
</param>
<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="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.  " user="Standard">
<values>
<value code="0">FenceReturnPoint</value>
<value code="1">NearestRallyPoint</value>
</values>
</param>
<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="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." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the 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." user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
234
<field name="UnitText">meters per second</field>
235 236 237 238 239
</param>
<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle 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." user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
240
<field name="UnitText">meters per second</field>
241 242 243 244 245 246 247 248 249 250 251 252 253 254 255
</param>
<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="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." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="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 option does not affect mission items, which have a per-waypoint 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." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="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." user="Standard">
<field name="Range">0 10000</field>
256 257
<field name="Units">m</field>
<field name="UnitText">meters</field>
258 259 260 261 262
</param>
<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="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." user="Standard">
<field name="Range">1 10</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
263
<field name="UnitText">meters per second</field>
264 265 266 267
</param>
<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
268 269
<field name="Units">%</field>
<field name="UnitText">percent</field>
270 271 272 273
</param>
<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
274 275
<field name="Units">%</field>
<field name="UnitText">percent</field>
276 277 278 279
</param>
<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
280 281
<field name="Units">%</field>
<field name="UnitText">percent</field>
282
</param>
283
<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="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." user="Standard">
284 285
<field name="Range">0 127</field>
<field name="Increment">1</field>
286 287
<field name="Units">%/s</field>
<field name="UnitText">percent per second</field>
288 289 290 291
</param>
<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
292 293
<field name="Units">%/s</field>
<field name="UnitText">percent per second</field>
294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319
</param>
<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed 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" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="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." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
<field name="Range">925 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
320 321
<field name="Units">%</field>
<field name="UnitText">percent</field>
322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338
</param>
<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle 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%." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="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). If in CIRCLE or RTL mode this parameter is ignored. 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 (AUTO, GUIDED and LOITER) 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." user="Standard">
<values>
<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
<value code="1">CIRCLE</value>
<value code="2">FBWA</value>
</values>
</param>
<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">0.5</field>
339 340
<field name="Units">s</field>
<field name="UnitText">seconds</field>
341 342 343 344 345 346 347 348 349 350 351 352
</param>
<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="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. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
<values>
<value code="0">Continue</value>
<value code="1">ReturnToLaunch</value>
<value code="2">Glide</value>
<value code="3">Deploy Parachute</value>
</values>
</param>
<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
<field name="Range">1 300</field>
<field name="Increment">0.5</field>
353 354
<field name="Units">s</field>
<field name="UnitText">seconds</field>
355
</param>
356 357 358 359 360 361 362 363 364 365
<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="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." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="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." user="Standard">
<field name="Increment">50</field>
<field name="Units">mA.h</field>
<field name="UnitText">milliampere hour</field>
</param>
366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539
<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT 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 triggered 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).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. 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." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Heartbeat</value>
<value code="2">HeartbeatAndREMRSSI</value>
<value code="3">HeartbeatAndAUTO</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
</param>
<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="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." user="Advanced">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="14">AVOID_ADSB</value>
<value code="15">Guided</value>
<value code="17">QSTABILIZE</value>
<value code="18">QHOVER</value>
<value code="19">QLOITER</value>
<value code="20">QLAND</value>
<value code="21">QRTL</value>
</values>
</param>
<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
540 541
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
542 543 544 545
</param>
<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
546 547
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
548 549 550 551
</param>
<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
<field name="Range">-9000 0</field>
<field name="Increment">1</field>
552 553
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
554 555 556 557
</param>
<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">1</field>
558 559
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
560 561 562 563
</param>
<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">1</field>
564 565
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
566 567 568 569 570 571 572 573 574 575
</param>
<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">0.1</field>
576 577
<field name="Units">m</field>
<field name="UnitText">meters</field>
578 579 580 581
</param>
<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
<field name="Range">10 360</field>
<field name="Increment">1</field>
582 583
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
584
</param>
585
<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="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 the SERVOn_TRIM values and the RCn_TRIM values. 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. You should also see the newer and much safer SERVO_AUTO_TRIM parameter." user="Standard">
586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="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 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." user="User">
<field name="Range">0.5 1.2</field>
</param>
<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Mixing Offset" name="ArduPlane:MIXING_OFFSET" documentation="The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response." user="User">
<field name="Range">-1000 1000</field>
602 603
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
604 605
</param>
<param humanName="Differential spoilers rudder rate" name="ArduPlane:DSPOILR_RUD_RATE" documentation="Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect)." user="User">
606 607 608
<field name="Range">-100 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
609 610
</param>
<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
611
<field name="ReadOnly">True</field>
612 613 614 615 616 617 618 619 620 621 622 623 624 625
</param>
<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="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, FullLogs=65535" user="Advanced">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
<values>
<value code="0">Disabled</value>
<value code="65535">PX4/Pixhawk-Default</value>
</values>
</param>
<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
</param>
<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="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." user="Advanced">
</param>
<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
<field name="Units">cm/s</field>
626
<field name="UnitText">centimeters per second</field>
627 628 629
</param>
<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
<field name="Units">m/s</field>
630
<field name="UnitText">meters per second</field>
631 632 633
</param>
<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
<field name="Units">cm/s</field>
634
<field name="UnitText">centimeters per second</field>
635 636
</param>
<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
637 638
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
639 640
</param>
<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative 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 altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
641 642
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
643 644
</param>
<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="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." user="User">
645 646
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
647 648 649 650 651 652 653
</param>
<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="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." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
654
<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="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 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 auto-flaps the higher of the two flap percentages is taken." user="User">
655 656 657
</param>
<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
<field name="Range">0 100</field>
658 659
<field name="Units">%</field>
<field name="UnitText">percent</field>
660 661 662 663 664
</param>
<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="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" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
665
<field name="UnitText">meters per second</field>
666 667 668
</param>
<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
<field name="Range">0 100</field>
669 670
<field name="Units">%</field>
<field name="UnitText">percent</field>
671 672 673 674 675
</param>
<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="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" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
676
<field name="UnitText">meters per second</field>
677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699
</param>
<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. 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 due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
</param>
<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
</param>
<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Channel1</value>
<value code="2">Channel2</value>
<value code="3">Channel3</value>
<value code="4">Channel4</value>
<value code="5">Channel5</value>
<value code="6">Channel6</value>
<value code="7">Channel7</value>
<value code="8">Channel8</value>
</values>
</param>
<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="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." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
700
<field name="RebootRequired">True</field>
701 702 703 704 705 706 707 708 709 710
</param>
<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="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." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="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." user="Advanced">
<field name="Range">0 90</field>
<field name="Increment">0.1</field>
711 712
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
713 714 715 716 717 718 719 720 721
</param>
<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="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. " user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable - go HOME then land</value>
<value code="2">Enable - go directly to landing sequence</value>
</values>
</param>
<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
722
<field name="Range">10 127</field>
723
<field name="Units">m/s/s</field>
724
<field name="UnitText">meters per square second</field>
725 726 727 728 729 730 731 732 733 734 735 736
</param>
<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown. Set to 0 to disable crash detection." user="Advanced">
<field name="Bitmask">0:Disarm</field>
</param>
<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
</param>
<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
737
<param humanName="GCS sysid enforcement" name="ArduPlane:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
738
<values>
739 740
<value code="0">NotEnforced</value>
<value code="1">Enforced</value>
741 742
</values>
</param>
743 744 745 746 747
<param humanName="rudder differential thrust gain" name="ArduPlane:RUDD_DT_GAIN" documentation="gain control from rudder to differential thrust" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
748
</param>
749 750 751 752 753 754
<param humanName="Manual R/C pass-through mask" name="ArduPlane:MANUAL_RCMASK" documentation="Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes." user="Advanced">
<field name="Bitmask">0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16</field>
</param>
</parameters>
</vehicles><libraries><parameters name="ADSB_">
<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
755 756 757 758 759
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
760 761
<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
<field name="Range">1 100</field>
762
</param>
763 764
<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
<field name="Range">1 100000</field>
765
</param>
766
<param humanName="ICAO_ID vehicle identifaction number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
767
<field name="Range">-1 16777215</field>
768
</param>
769
<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
770
<values>
771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790
<value code="0">NoInfo</value>
<value code="1">Light</value>
<value code="2">Small</value>
<value code="3">Large</value>
<value code="4">HighVortexlarge</value>
<value code="5">Heavy</value>
<value code="6">HighlyManuv</value>
<value code="7">Rotocraft</value>
<value code="8">RESERVED</value>
<value code="9">Glider</value>
<value code="10">LightAir</value>
<value code="11">Parachute</value>
<value code="12">UltraLight</value>
<value code="13">RESERVED</value>
<value code="14">UAV</value>
<value code="15">Space</value>
<value code="16">RESERVED</value>
<value code="17">EmergencySurface</value>
<value code="18">ServiceSurface</value>
<value code="19">PointObstacle</value>
791 792
</values>
</param>
793
<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
794
<values>
795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810
<value code="0">NO_DATA</value>
<value code="1">L15W23</value>
<value code="2">L25W28P5</value>
<value code="3">L25W34</value>
<value code="4">L35W33</value>
<value code="5">L35W38</value>
<value code="6">L45W39P5</value>
<value code="7">L45W45</value>
<value code="8">L55W45</value>
<value code="9">L55W52</value>
<value code="10">L65W59P5</value>
<value code="11">L65W67</value>
<value code="12">L75W72P5</value>
<value code="13">L75W80</value>
<value code="14">L85W80</value>
<value code="15">L85W90</value>
811 812
</values>
</param>
813
<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
814
<values>
815 816 817 818 819 820 821 822
<value code="0">NoData</value>
<value code="1">Left2m</value>
<value code="2">Left4m</value>
<value code="3">Left6m</value>
<value code="4">Center</value>
<value code="5">Right2m</value>
<value code="6">Right4m</value>
<value code="7">Right6m</value>
823 824
</values>
</param>
825
<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
826
<values>
827 828
<value code="0">NO_DATA</value>
<value code="1">AppliedBySensor</value>
829 830
</values>
</param>
831
<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable." user="Advanced">
832 833
<values>
<value code="0">Disabled</value>
834 835 836
<value code="1">Rx-Only</value>
<value code="2">Tx-Only</value>
<value code="3">Rx and Tx Enabled</value>
837 838
</values>
</param>
839 840 841
</parameters>
<parameters name="AFS_">
<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
842
</param>
843
<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
844
</param>
845
<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
846
</param>
847
<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
848
</param>
849
<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
850
</param>
851
<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
852
</param>
853
<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
854
</param>
855
<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
856
</param>
857 858 859
<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
860
</param>
861 862 863
<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
864
</param>
865 866 867
<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
<field name="Units">mbar</field>
<field name="UnitText">millibar</field>
868
</param>
869
<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
870
</param>
871
<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
872
</param>
873
<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
874
</param>
875
<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
876
</param>
877
<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
878
</param>
879
<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
880
</param>
881 882 883
<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
884
</param>
885 886 887 888 889 890
</parameters>
<parameters name="AHRS_">
<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">.01</field>
</param>
891
<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
892
<values>
893 894
<value code="0">Disabled</value>
<value code="1">Enabled</value>
895 896
</values>
</param>
897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929
<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
930
<values>
931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
954
<value code="23">Roll270Yaw136</value>
955 956 957 958 959 960 961 962 963 964 965 966 967 968
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
969 970
</values>
</param>
971 972 973 974 975 976 977
<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
<field name="Range">0.001 0.5</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
978
</param>
979
<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
980 981
<values>
<value code="0">Disabled</value>
982 983
<value code="2">Enable EKF2</value>
<value code="3">Enable EKF3</value>
984 985
</values>
</param>
986 987 988
</parameters>
<parameters name="ARMING_">
<param humanName="Rudder Arming" name="ARMING_RUDDER" documentation="Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
989 990
<values>
<value code="0">Disabled</value>
991 992
<value code="1">ArmingOnly</value>
<value code="2">ArmOrDisarm</value>
993 994
</values>
</param>
995
<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="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 sends the minimum throttle PWM value to the 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 pre-arm check failure. This parameter is relevant for ArduPlane only." user="Advanced">
996 997
<values>
<value code="0">Disabled</value>
998 999
<value code="1">THR_MIN PWM when disarmed</value>
<value code="2">0 PWM when disarmed</value>
1000 1001
</values>
</param>
1002
<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before 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." user="Standard">
1003
<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
1004 1005 1006 1007 1008 1009 1010 1011
<values>
<value code="0">None</value>
<value code="1">All</value>
<value code="2">Barometer</value>
<value code="4">Compass</value>
<value code="8">GPS Lock</value>
<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
<value code="32">Parameters(unused)</value>
1012
<value code="64">RC Failsafe</value>
1013 1014 1015 1016 1017 1018 1019
<value code="128">Board voltage</value>
<value code="256">Battery Level</value>
<value code="512">Airspeed</value>
<value code="1024">LoggingAvailable</value>
<value code="2048">Hardware safety switch</value>
<value code="4096">GPS configuration</value>
</values>
1020
</param>
1021 1022 1023 1024
<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
<field name="Range">0.25 3.0</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
1025
</param>
1026
<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage on the first battery to arm, 0 disables the check" user="Standard">
1027 1028 1029
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
1030
</param>
1031
<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage on the first battery to arm, 0 disables the check" user="Standard">
1032 1033 1034
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
1035
</param>
1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047
</parameters>
<parameters name="ARSPD">
<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
<values>
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
<value code="4">I2C-MS5525 (0x76)</value>
<value code="5">I2C-MS5525 (0x77)</value>
<value code="6">I2C-SDP3X</value>
</values>
1048
</param>
1049 1050 1051 1052 1053 1054
<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
<values>
<value code="0">Don't Use</value>
<value code="1">use</value>
<value code="2">UseWhenZeroThrottle</value>
</values>
1055
</param>
1056 1057
<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
1058
</param>
1059 1060
<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
<field name="Increment">0.1</field>
1061
</param>
1062
<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
1063
</param>
1064
<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
1065
</param>
1066
<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
1067
</param>
1068
<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
1069
<values>
1070 1071
<value code="0">Disable</value>
<value code="1">Enable</value>
1072 1073
</values>
</param>
1074
<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
1075
</param>
1076
<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
1077
<values>
1078 1079 1080
<value code="0">Bus0(internal)</value>
<value code="1">Bus1(external)</value>
<value code="2">Bus2(auxillary)</value>
1081 1082
</values>
</param>
1083
<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
1084
<values>
1085 1086
<value code="0">FirstSensor</value>
<value code="1">2ndSensor</value>
1087 1088
</values>
</param>
1089
<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
1090
<values>
1091 1092 1093 1094
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
1095
<value code="4">I2C-SDP3X</value>
1096 1097
</values>
</param>
1098
<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
1099
<values>
1100 1101 1102
<value code="0">Don't Use</value>
<value code="1">use</value>
<value code="2">UseWhenZeroThrottle</value>
1103 1104
</values>
</param>
1105 1106
<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
1107
</param>
1108 1109
<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
<field name="Increment">0.1</field>
1110
</param>
1111
<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
1112
</param>
1113 1114 1115
<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
</param>
<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
1116
</param>
1117
<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
1118
<values>
1119 1120
<value code="0">Disable</value>
<value code="1">Enable</value>
1121 1122
</values>
</param>
1123
<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
1124
</param>
1125
<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
1126
<values>
1127 1128 1129
<value code="0">Bus0(internal)</value>
<value code="1">Bus1(external)</value>
<value code="2">Bus2(auxillary)</value>
1130 1131
</values>
</param>
1132 1133 1134
</parameters>
<parameters name="AVD_">
<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
1135 1136 1137 1138 1139
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
1140 1141 1142 1143 1144 1145 1146
<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
<values>
<value code="0">Remain in AVOID_ADSB</value>
<value code="1">Resume previous flight mode</value>
<value code="2">RTL</value>
<value code="3">Resume if AUTO else Loiter</value>
</values>
1147
</param>
1148
<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
1149
</param>
1150 1151 1152
<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
1153
</param>
1154 1155 1156
<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
1157
</param>
1158 1159 1160
<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
1161
</param>
1162 1163 1164
<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
1165
</param>
1166 1167 1168 1169 1170 1171 1172 1173 1174
<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
1175 1176
<parameters name="BATT">
<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
1177
<values>
1178 1179 1180 1181 1182 1183
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
1184 1185
</values>
</param>
1186
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
1187
<values>
1188 1189 1190 1191 1192 1193
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
1194 1195
</values>
</param>
1196
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
1197 1198 1199 1200 1201 1202 1203 1204
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
1205
</param>
1206
<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
1207
</param>
1208
<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
1209 1210
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
1211
</param>
1212
<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
1213 1214
<field name="Units">V</field>
<field name="UnitText">volt</field>
1215
</param>
1216
<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
1217
<field name="Increment">50</field>
1218
<field name="Units">mA.h</field>
1219
<field name="UnitText">milliampere hour</field>
1220
</param>
1221
<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
1222
<field name="Increment">1</field>
1223 1224
<field name="Units">W</field>
<field name="UnitText">watt</field>
1225
</param>
1226
<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
1227
</param>
1228
<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
1229 1230
<values>
<value code="0">Disabled</value>
1231 1232 1233 1234 1235
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
1236 1237
</values>
</param>
1238
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
1239
<values>
1240 1241 1242 1243 1244 1245
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
1246 1247
</values>
</param>
1248
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
1249
<values>
1250 1251 1252 1253 1254 1255
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
1256 1257
</values>
</param>
1258
<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
1259
</param>
1260
<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
1261 1262
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
1263
</param>
1264
<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
1265 1266
<field name="Units">V</field>
<field name="UnitText">volt</field>
1267
</param>
1268
<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
1269
<field name="Increment">50</field>
1270
<field name="Units">mA.h</field>
1271
<field name="UnitText">milliampere hour</field>
1272
</param>
1273
<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
1274
<field name="Increment">1</field>
1275 1276
<field name="Units">A</field>
<field name="UnitText">ampere</field>
1277
</param>
1278
<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
1279
</param>
1280 1281
<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
1282
<field name="Increment">1</field>
1283 1284
<field name="Units">s</field>
<field name="UnitText">seconds</field>
1285
</param>
1286
<param humanName="Low voltage type" name="BATT_LOW_TYPE" documentation="Voltage type used for detection of low voltage event" user="Advanced">
1287
<values>
1288 1289
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
1290 1291
</values>
</param>
1292 1293 1294
</parameters>
<parameters name="BRD_">
<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
1295
<values>
1296 1297 1298 1299 1300
<value code="0">No PWMs</value>
<value code="2">Two PWMs</value>
<value code="4">Four PWMs</value>
<value code="6">Six PWMs</value>
<value code="7">Three PWMs and One Capture</value>
1301
</values>
1302
<field name="RebootRequired">True</field>
1303
</param>
1304
<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
1305 1306 1307
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
1308
<value code="2">Auto</value>
1309
</values>
1310
<field name="RebootRequired">True</field>
1311
</param>
1312
<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
1313 1314 1315 1316 1317 1318
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
1319
</param>
1320
<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
1321 1322 1323 1324
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
1325
<field name="RebootRequired">True</field>
1326
</param>
1327
<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
1328 1329
<values>
<value code="0">Disabled</value>
1330 1331 1332 1333 1334 1335 1336
<value code="1">50Hz</value>
<value code="2">75Hz</value>
<value code="3">100Hz</value>
<value code="4">150Hz</value>
<value code="5">200Hz</value>
<value code="6">250Hz</value>
<value code="7">300Hz</value>
1337
</values>
1338
<field name="RebootRequired">True</field>
1339
</param>
1340 1341
<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
<field name="Range">-32768 32767</field>