1 255 1 255 Disabled Enabled 1 10 1 0 10 1 seconds 0:Roll,1:Pitch,2:Yaw None Roll Pitch Yaw 0 1 0.01 0 5 0.01 0 15 0.1 Degrees 0 1000 1 meters 0 100 1 meters Disabled FBWMixing DirectMixing Disabled Enabled Disabled Enabled 0 30 0.1 m/s 0 30 0.1 m/s/s 0 127 1 0.1 seconds -100 100 1 Percent 0 30 0.1 m/s 0 30 0.1 m/s 0 127 1 percent 0 100 Percent 0 45 1 degrees centi-Degrees 0.1 meters 0.1 seconds 0 127 1 seconds Default L1Controller 0 1 0.1 Percent Automatic -32767 32767 1 Meters 1 32767 1 Meters 0 32767 1 Meters -32767 32767 1 Meters None GuidedMode ReportOnly GuidedModeThrPass 0 32767 1 meters 0 32767 1 meters 0 32767 1 meters NoAutoEnable AutoEnable AutoEnableDisableFloorOnly FenceReturnPoint NearestRallyPoint Disabled Enabled 5 100 1 m/s 5 100 1 m/s Disabled Enabled Disabled Enabled 0 10000 meters 1-10 0.1 0 100 1 Percent 0 100 1 Percent 0 100 1 Percent 0 127 1 Percent 0 100 1 Percent Disabled Enabled Disabled Enabled Disabled Enabled 925 1100 1 0 100 1 Percent Disabled Enabled Continue Circle/ReturnToLaunch Glide 1 100 0.5 seconds Continue ReturnToLaunch Glide 1 300 0.5 seconds 0.1 Volts 50 mAh Disabled Heartbeat HeartbeatAndREMRSSI HeartbeatAndAUTO Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter Guided 0 9000 1 centi-Degrees 0 9000 1 centi-Degrees -9000 0 1 centi-Degrees 10 500 1 degrees/second 10 500 1 degrees/second Disabled Enabled -100 100 0.1 Meters 10 360 1 degrees/second Disabled Enabled Disabled Enabled Disabled Enabled Disabled Enabled Disabled Enabled Disabled UpUp UpDown DownUp DownDown Disabled UpUp UpDown DownUp DownDown 0.5 1.2 Disabled Enabled 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,16:WHEN_DISARMED,19:IMU_RAW Disabled APM2-Default PX4/Pixhawk-Default cm/s m/s cm/s centi-Degrees centimeters centimeters Disabled Enabled Disabled UpUp UpDown DownUp DownDown 0 100 Percent 0 100 1 m/s 0 100 Percent 0 100 1 m/s 0 100 Percent Disabled APM2 A0 APM2 A1 APM2 A13 Pixhawk SBUS 3.3:3.3V, 5.0:5V Volt Disabled Channel1 Channel2 Channel3 Channel4 Channel5 Channel6 Channel7 Channel8 Disabled Enabled Disabled Enabled 0 90 0.1 degrees Disable Enable - go HOME then land Enable - go directly to landing sequence Disable Enable Disabled Enabled ArduPlane AntennaTracker Copter Rover 1 255 Mission Planner and DroidPlanner AP Planner 2 Disabled Enabled 0 10 .5 Hz 0.0 1000.0 10 Centimeters 0.0 500.0 10 None FeedbackFromMid 0 10 1 seconds 0:Roll,1:Pitch,2:Yaw None Roll Pitch Yaw 0 8000 1 Centimeters 0.01 2.0 0.01 Disabled Land RTL 0.1 Volts 50 mAh Disabled Enabled always RTL Enabled Continue with Mission in Auto Mode 100 900 Disabled Enabled Disabled Mode1 Mode2 Mode1+2 Mode3 Mode1+3 Mode2+3 Mode1+2+3 Mode4 Mode1+4 Mode2+4 Mode1+2+4 Mode3+4 Mode1+3+4 Mode2+3+4 Mode1+2+3+4 Mode5 Mode1+5 Mode2+5 Mode1+2+5 Mode3+5 Mode1+3+5 Mode2+3+5 Mode1+2+3+5 Mode4+5 Mode1+4+5 Mode2+4+5 Mode1+2+4+5 Mode3+4+5 Mode1+3+4+5 Mode2+3+4+5 Mode1+2+3+4+5 Mode6 Mode1+6 Mode2+6 Mode1+2+6 Mode3+6 Mode1+3+6 Mode2+3+6 Mode1+2+3+6 Mode4+6 Mode1+4+6 Mode2+4+6 Mode1+2+4+6 Mode3+4+6 Mode1+3+4+6 Mode2+3+4+6 Mode1+2+3+4+6 Mode5+6 Mode1+5+6 Mode2+5+6 Mode1+2+5+6 Mode3+5+6 Mode1+3+5+6 Mode2+3+5+6 Mode1+2+3+5+6 Mode4+5+6 Mode1+4+5+6 Mode2+4+5+6 Mode1+2+4+5+6 Mode3+4+5+6 Mode1+3+4+5+6 Mode2+3+4+5+6 Mode1+2+3+4+5+6 -1 1000 1 Centimeters 0 3000 10 Centimeters Disabled APM2 A0 APM2 A1 APM2 A2 APM2 A13 Pixhawk SBUS 3.3:3.3V, 5:5V Volt Never change yaw Face next waypoint Face next waypoint except RTL Face along GPS course 0 60000 1000 ms 30 200 10 cm/s 50 500 10 Centimeters/Second 50 500 10 cm/s/s 0 300 1 Percent*10 Disabled Enabled always RTL Enabled Continue with Mission in Auto Mode Enabled always LAND 925 1100 1 pwm 300 700 1 Percent*10 0 300 1 pwm Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW Default Default+RCIN Default+IMU Default+Motors NearlyAll-AC315 NearlyAll All+DisarmedLogging All+FastATT All+MotBatt All+FastIMU All+FastIMU+PID All+FullIMU Disabled Normal Start-up Start-up in ESC Calibration mode if throttle high Start-up in ESC Calibration mode regardless of throttle Disabled None Stab Roll/Pitch kP Rate Roll/Pitch kP Rate Roll/Pitch kI Rate Roll/Pitch kD Stab Yaw kP Rate Yaw kP Rate Yaw kD Altitude Hold kP Throttle Rate kP Throttle Accel kP Throttle Accel kI Throttle Accel kD Loiter Speed Loiter Pos kP Velocity XY kP Velocity XY kI WP Speed Acro RollPitch kP Acro Yaw kP Heli Ext Gyro OF Loiter kP OF Loiter kI OF Loiter kD Declination Circle Rate RangeFinder Gain Rate Pitch kP Rate Pitch kI Rate Pitch kD Rate Roll kP Rate Roll kI Rate Roll kD Rate Pitch FF Rate Roll FF Rate Yaw FF 0 32767 0 32767 Plus X V H V-Tail A-Tail Y6B (New) Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence ResetToArmedYaw Super Simple Mode Acro Trainer Auto AutoTune Land EPM Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake 0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage Disabled Enabled Skip Baro Skip Compass Skip GPS Skip INS Skip Params/Sonar Skip RC Skip Voltage 0 127 Seconds 1000 8000 Centi-degrees 0 100 Very Soft Soft Medium Crisp Very Crisp 1 4 12 deg/sec 2000 4500 Centi-degrees No repositioning Repositioning Land AltHold Land even in Stabilize 0.6:Strict, 0.8:Default, 1.0:Relaxed 50 490 1 Hz 1 10 1 10 0 3 0.1 0 3 0.1 Disabled Leveling Leveling and Limited Disabled Very Low Low Medium High Very High 0.08 0.30 0.005 0.01 0.5 0.01 0 4500 10 Percent*10 0.08 0.30 0.005 0.01 0.5 0.01 0 4500 10 Percent*10 0.150 0.50 0.005 0.010 0.05 0.01 0 4500 10 Percent*10 0.1 6.0 0.1 0.02 1.00 0.01 0 4500 10 cm/s/s 1.000 8.000 0.500 1.500 0.000 3.000 0 1000 Percent*10 0.000 0.400 1.000 100.000 Hz 3.000 12.000 3.000 12.000 3.000 6.000 1.000 3.000 0.500 2.000 0:Roll,1:Pitch,2:Yaw All Roll Only Pitch Only Yaw Only Roll and Pitch Roll and Yaw Pitch and Yaw 0.05 0.10 0.001 0.006 1 255 1 255 1 255 Disabled Enabled 0 20 0.1 seconds 0 20 0.1 seconds 0 100 1 degrees/second 0 20 1 seconds -90 90 0.000001 degrees -180 180 0.000001 degrees 0 10 0.1 seconds Position OnOff ContinuousRotation 0 50 0.1 degrees/second 0 50 0.1 degrees/second 0 2 0.01 seconds 0 2 0.01 seconds -10 10 0.1 degrees -10 10 0.1 degrees 0 360 0.1 degrees 0 180 0.1 degrees 0 100 1 meters 1 255 Disabled Default Default+IMU MANUAL LEARNING STEERING HOLD AUTO RTL GUIDED Disabled APM2 A0 APM2 A1 APM2 A2 APM2 A13 Pixhawk SBUS 1 255 1 255 Disabled Enabled 0 10 1 seconds 0:Steering None Steering Disabled Enabled Disabled Enabled Disabled APM TriggerPin Pixhawk TriggerPin 0 20 0.1 m/s/s 0 100 0.1 m/s 0 100 1 percent 0 100 0.1 meters 0 100 1 percent 0 100 1 m/s 0 360 1 degrees Nothing LearnWaypoint 0 100 1 Percent 0 100 1 Percent 0 100 1 Percent 0 100 1 Percent Disabled SkidSteeringOutput Disabled SkidSteeringInput Nothing RTL HOLD seconds Disabled Enabled 925 1100 1 Disabled Enabled 0 1000 1 centimeters -45 45 1 centimeters 0 100 0.1 seconds 1 100 1 Manual LEARNING STEERING HOLD Auto RTL Guided Manual LEARNING STEERING HOLD Auto RTL Guided Manual LEARNING STEERING HOLD Auto RTL Guided Manual LEARNING STEERING HOLD Auto RTL Guided Manual LEARNING STEERING HOLD Auto RTL Guided Manual LEARNING STEERING HOLD Auto RTL Guided 0 1000 0.1 meters 0.2 10 0.1 gravities 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 GCS Mavlink Frsky D-PORT Frsky S-PORT GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 GCS Mavlink Frsky D-PORT Frsky S-PORT GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 GCS Mavlink Frsky D-PORT Frsky S-PORT GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 GCS Mavlink Frsky D-PORT Frsky S-PORT GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 pascals 1 degrees celsius 1 -128 127 1 meters None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN True None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN True Portable Stationary Pedestrian Automotive Sea Airborne1G Airborne2G Airborne4G True Disabled Enabled Any FloatRTK IntegerRTK True Disabled Enabled NoChange True -100 90 Degrees True send to first GPS send to 2nd GPS send to all None All External only Disabled log at 1MHz log at 5MHz True 0: Leave as currently configured 1: GPS 2: SBAS 4: Galileo 8: Beidou 16: IMES 32: QZSS 64: GLONASS True Servo Relay 0 50 seconds 1000 2000 pwm 1000 2000 pwm 0 1000 meters Disabled THR_MIN PWM when disarmed 0 PWM when disarmed None All Barometer Compass GPS INS Parameters RC Failsafe Board voltage Battery Level Airspeed LoggingAvailable Disabled ArmingOnly ArmOrDisarm Disabled APM2 A9 pin APM1 relay Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 Disabled APM2 A9 pin APM1 relay Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 Disabled APM2 A9 pin APM1 relay Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 Disabled APM2 A9 pin APM1 relay Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 Off On NoChange None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU Not Used APM2-A0 APM2-A1 APM2-A2 APM2-A3 APM2-A4 APM2-A5 APM2-A6 APM2-A7 APM2-A8 APM2-A9 PX4-airspeed port Pixhawk-airspeed port APM1-airspeed port meters/Volt 0.001 Volts 0.001 Linear Inverted Hyperbolic centimeters 1 centimeters 1 Not Used Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 milliseconds 1 No Yes meters 0 32767 0 127 1 centimeters None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU Not Used APM2-A0 APM2-A1 APM2-A2 APM2-A3 APM2-A4 APM2-A5 APM2-A6 APM2-A7 APM2-A8 APM2-A9 PX4-airspeed port Pixhawk-airspeed port APM1-airspeed port meters/Volt 0.001 Volts 0.001 Linear Inverted Hyperbolic centimeters 1 centimeters 1 Not Used Pixhawk AUXOUT1 Pixhawk AUXOUT2 Pixhawk AUXOUT3 Pixhawk AUXOUT4 Pixhawk AUXOUT5 Pixhawk AUXOUT6 PX4 FMU Relay1 PX4 FMU Relay2 PX4IO Relay1 PX4IO Relay2 PX4IO ACC1 PX4IO ACC2 milliseconds 1 No Yes 0 127 1 centimeters Disable Enable meters 1 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled RCPassThru Flap Flap_auto Aileron mount_pan mount_tilt mount_roll mount_open camera_trigger release mount2_pan mount2_tilt mount2_roll mount2_open DifferentialSpoiler1 DifferentialSpoiler2 AileronWithInput Elevator ElevatorWithInput Rudder Flaperon1 Flaperon2 GroundSteering Parachute EPM LandingGear EngineRunEnable 0.4 1.0 0.1 seconds 0.1 4.0 0.1 0 0.1 0.01 0 1.0 0.05 0 180 1 degrees/second 0 4500 1 0.1 4.0 0.1 0.4 1.0 0.1 seconds 0.1 3.0 0.1 0 0.1 0.01 0 0.5 0.05 0 100 1 degrees/second 0 100 1 degrees/second 0.7 1.5 0.05 0 4500 1 0.1 4.0 0.1 0 4 0.25 0 2 0.25 0 2 0.25 0.8 1.2 0.05 0 4500 1 0.4 1.0 0.1 seconds 0.1 10.0 0.1 0 1.0 0.05 0 0.1 0.01 0 4500 1 0 5 0.1 m/s 0.0 10.0 0.1 -400 400 1 -400 400 1 -400 400 1 -3.142 3.142 0.01 Radians Disabled Enabled Disabled Enabled Disabled Enabled Disabled Use Throttle Use Current 1 -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle None Yaw45 Yaw90 Yaw135 Yaw180 Yaw225 Yaw270 Yaw315 Roll180 Roll180Yaw45 Roll180Yaw90 Roll180Yaw135 Pitch180 Roll180Yaw225 Roll180Yaw270 Roll180Yaw315 Roll90 Roll90Yaw45 Roll90Yaw90 Roll90Yaw135 Roll270 Roll270Yaw45 Roll270Yaw90 Roll270Yaw136 Pitch90 Pitch270 Pitch180Yaw90 Pitch180Yaw270 Roll90Pitch90 Roll180Pitch90 Roll270Pitch90 Roll90Pitch180 Roll270Pitch180 Roll90Pitch270 Roll180Pitch270 Roll270Pitch270 Roll90Pitch180Yaw90 Roll90Yaw270 Yaw293Pitch68Roll90 Internal External -400 400 1 -400 400 1 -400 400 1 -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle FirstCompass SecondCompass ThirdCompass -400 400 1 -400 400 1 -400 400 1 -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle -1000 1000 1 Offset per Amp or at Full Throttle Disabled Enabled None Yaw45 Yaw90 Yaw135 Yaw180 Yaw225 Yaw270 Yaw315 Roll180 Roll180Yaw45 Roll180Yaw90 Roll180Yaw135 Pitch180 Roll180Yaw225 Roll180Yaw270 Roll180Yaw315 Roll90 Roll90Yaw45 Roll90Yaw90 Roll90Yaw135 Roll270 Roll270Yaw45 Roll270Yaw90 Roll270Yaw136 Pitch90 Pitch270 Pitch180Yaw90 Pitch180Yaw270 Roll90Pitch90 Roll180Pitch90 Roll270Pitch90 Roll90Pitch180 Roll270Pitch180 Roll90Pitch270 Roll180Pitch270 Roll270Pitch270 Roll90Pitch180Yaw90 Roll90Yaw270 Yaw293Pitch68Roll90 Internal External Disabled Enabled None Yaw45 Yaw90 Yaw135 Yaw180 Yaw225 Yaw270 Yaw315 Roll180 Roll180Yaw45 Roll180Yaw90 Roll180Yaw135 Pitch180 Roll180Yaw225 Roll180Yaw270 Roll180Yaw315 Roll90 Roll90Yaw45 Roll90Yaw90 Roll90Yaw135 Roll270 Roll270Yaw45 Roll270Yaw90 Roll270Yaw136 Pitch90 Pitch270 Pitch180Yaw90 Pitch180Yaw270 Roll90Pitch90 Roll180Pitch90 Roll270Pitch90 Roll90Pitch180 Roll270Pitch180 Roll90Pitch270 Roll180Pitch270 Roll270Pitch270 Roll90Pitch180Yaw90 Roll90Yaw270 Yaw293Pitch68Roll90 Internal External Disabled ShowSlips ShowOverruns 1 8 1 True 1 8 1 True 1 8 1 True 1 8 1 True Unknown APM1-1280 APM1-2560 APM2 SITL PX4v1 PX4v2 Flymaple Linux rad/s rad/s rad/s rad/s rad/s rad/s rad/s rad/s rad/s 0.8 1.2 0.8 1.2 0.8 1.2 -3.5 3.5 m/s/s -3.5 3.5 m/s/s -3.5 3.5 m/s/s 0.8 1.2 0.8 1.2 0.8 1.2 -3.5 3.5 m/s/s -3.5 3.5 m/s/s -3.5 3.5 m/s/s 0.8 1.2 0.8 1.2 0.8 1.2 -3.5 3.5 m/s/s -3.5 3.5 m/s/s -3.5 3.5 m/s/s 0 127 Hz 0 127 Hz Disabled Enabled Disabled Enabled Disabled Enabled 0.0 1.0 .01 Disabled Enabled 0.1 0.4 .01 0.1 0.4 .01 0 127 1 m/s -0.1745 +0.1745 0.01 Radians -0.1745 +0.1745 0.01 Radians -0.1745 +0.1745 0.01 Radians None Yaw45 Yaw90 Yaw135 Yaw180 Yaw225 Yaw270 Yaw315 Roll180 Roll180Yaw45 Roll180Yaw90 Roll180Yaw135 Pitch180 Roll180Yaw225 Roll180Yaw270 Roll180Yaw315 Roll90 Roll90Yaw45 Roll90Yaw90 Roll90Yaw135 Roll270 Roll270Yaw45 Roll270Yaw90 Roll270Yaw136 Pitch90 Pitch270 Pitch180Yaw90 Pitch180Yaw270 Roll90Pitch90 Roll180Pitch90 Roll270Pitch90 Roll90Pitch180 Roll270Pitch180 Roll90Pitch270 Roll180Pitch270 Roll270Pitch270 Roll90Pitch180Yaw90 Roll90Yaw270 0.001 0.5 .01 0 10 1 Disabled Enabled Enabled - No Fallback Disable Enable Use Don't Use 0.1 0.1 Disable Enable 1-60 1 seconds 0.6-1.0 0.05 0.1 20.0 0.1 0.1 10.0 0.1 3.0 10.0 0.2 0.1 1.0 0.1 0.0 0.5 0.02 1.0 10.0 0.5 1.0 5.0 0.05 0.5 2.0 0.05 5.0 30.0 1.0 0.0 2.0 0.1 0.1 1.0 0.1 0.0 20.0 0.1 -1 127 1 -1 to 100 0.1 0.0 2.0 0.1 0 45 1 -45 0 1 0.0 2.0 0.1 1.0 5.0 0.2 0.1 1.0 0.1 0 40 1 Retracted Neutral MavLink Targeting RC Targeting GPS Point -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees Disabled Enabled Disabled Enabled Disabled Enabled Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees 0 100 1 0.0 0.2 .005 Seconds 0.0 0.2 .005 Seconds None Servo 3DR Solo Alexmos Serial SToRM32 MAVLink SToRM32 Serial 0 0.5 radians 0 0.5 radians 0 0.5 radians 0 2 m/s 0 2 m/s 0 2 m/s 0 0.5 radians/sec 0 0.5 radians/sec 0 0.5 radians/sec 0 10 Retracted Neutral MavLink Targeting RC Targeting GPS Point -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees -180.00 179.99 1 Degrees Disabled Enabled Disabled Enabled Disabled Enabled Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees 0.0 0.2 .005 Seconds 0.0 0.2 .005 Seconds None Servo 3DR Solo Alexmos Serial SToRM32 MAVLink SToRM32 Serial Disabled Analog Voltage Only Analog Voltage and Current SMBus Bebop Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh Disabled Analog Voltage Only Analog Voltage and Current SMBus Bebop Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh No PWMs Two PWMs Four PWMs Six PWMs Disabled Enabled Auto Disabled Enabled Auto Disabled Enabled Disabled Enabled -32767 to 32768 (any 16bit signed number) meters meters millibar Disabled Enabled -200 +200 1 -200 +200 1 -18000 +18000 1 0 32766 1 Resume Mission Restart Mission 0.1 kilometers DoNotIncludeHome IncludeHome 0.05 5.0 0.05 0.05 5.0 0.05 0.1 10.0 0.1 meters 0.1 10.0 0.1 meters 0.01 0.5 0.01 0.5 5.0 0.1 m/s 0.01 1.0 0.1 0.0 1.0 0.1 0.001 0.05 0.001 rad/s 0.05 1.0 0.01 m/s/s 0.0000001 0.00001 rad/s 0.00001 0.001 m/s/s 0.0001 0.01 gauss/s 0.0001 0.01 gauss/s 0 500 10 milliseconds 0 500 10 milliseconds GPS 3D Vel and 2D Pos GPS 2D vel and 2D pos GPS 2D pos No GPS use optical flow 1 100 1 1 100 1 1 100 1 1 100 1 1 100 1 Speed and Height Acceleration Never Always 100 500 50 10 50 5 meters 1 - 50 1 0.05 - 1.0 0.05 rad/s 1 - 100 1 0 - 500 10 milliseconds 1 - 100 1 1.0 - 4.0 0.1 Trust EKF more Trust DCM more Use Baro Use Range Finder 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Disabled Enabled 1000 2000 1000 2000 1000 2000 Never every 15 seconds every 30 seconds once per minute Disabled Enabled First Relay Second Relay Third Relay Fourth Relay Servo 1000 2000 1 pwm 1000 2000 1 pwm 0 32000 1 Meters 1000 2000 1 pwm 1000 2000 1 pwm 0 2000 50 cm/s 100 1000 1 cm 0 1000 50 cm/s 0 500 10 cm/s 0 2000 50 cm/s 50 500 10 cm/s/s 50 500 10 cm/s/s 500 2000 1 cm/s/s/s 100 981 1 cm/s/s 100 981 1 cm/s/s 0 10000 100 cm -90 90 1 deg/s 500 18000 100 Centi-Degrees/Sec 0 72000 Disabled Slow Medium Fast 1000 Centi-Degrees/Sec/Sec Disabled Enabled 0 180000 Disabled Slow Medium Fast 1000 Centi-Degrees/Sec/Sec 0 180000 Disabled Slow Medium Fast 1000 Centi-Degrees/Sec/Sec 0.5 5 0.1 Hz Disabled Analog Voltage Only Analog Voltage and Current SMBus Bebop Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh Disabled Analog Voltage Only Analog Voltage and Current SMBus Bebop Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh Disabled Enabled 0 100 percentage 1000 2000 ms 0 1000 cm/s 0 100 percentage Disabled Enabled None Altitude Circle Altitude and Circle Report Only RTL or Land 10 1000 1 Meters 30 10000 Meters 1 10 Meters -180 180 1 Degrees -180 180 1 Degrees -180 180 1 Degrees Servo only Servo with ExtGyro DirectDrive VarPitch DirectDrive FixedPitch 3-Servo CCPM H1 Mechanical Mixing 0 1000 1 PWM -90 90 1 Degrees -10 10 0.1 0:NoFlybar 1:Flybar 0 1000 1 PWM 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Reversed Normal 0 200 pwm Reversed Normal Reversed Normal Reversed Normal 50, 125, 250 None PX4-PWM 0.001 1 None PX4-PWM 0.001