True 1 255 1 255 Disabled Enabled 1 10 1 0 30 1 seconds 0:Roll,1:Pitch,2: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 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 10 0.5 seconds 0 100 Percent 0 45 1 degrees 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 Default L1Controller Automatic -32767 32767 1 Meters 1 32767 1 Meters 0 32767 1 Meters -32767 32767 1 Meters -32767 32767 1 Meters None GuidedMode ReportOnly GuidedModeThrPass RTL_Mode 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 m/s -100 100 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 2200 1 0 100 1 Percent Disabled Enabled CIRCLE/no change(if already in AUTO|GUIDED|LOITER) CIRCLE FBWA 1 100 0.5 seconds Continue ReturnToLaunch Glide Deploy Parachute 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 AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL Manual CIRCLE STABILIZE TRAINING ACRO FBWA FBWB CRUISE AUTOTUNE Auto RTL Loiter AVOID_ADSB Guided QSTABILIZE QHOVER QLOITER QLAND QRTL 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 UpUpSwap UpDownSwap DownUpSwap DownDownSwap Disabled UpUp UpDown DownUp DownDown UpUpSwap UpDownSwap DownUpSwap DownDownSwap 0.5 1.2 Disabled Enabled -1000 1000 percent -1000 1000 percent 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 Disabled PX4/Pixhawk-Default cm/s m/s cm/s centi-Degrees centimeters centimeters Disabled Enabled Disabled UpUp UpDown DownUp DownDown UpUpSwap UpDownSwap DownUpSwap DownDownSwap 0 100 Percent 0 100 1 m/s 0 100 Percent 0 100 1 m/s 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 10 127 m/s/s 0:Disarm Disabled Enabled True True 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 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection None Feedback from mid stick High throttle cancels landing Disarm on land detection 0 30 1 seconds 0:Roll,1:Pitch,2:Yaw None Roll Pitch Yaw 0 8000 1 Centimeters 0.5 10.0 Disabled Shallow Steep .1 0 2000 50 cm/s 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 Never change yaw Face next waypoint Face next waypoint except RTL Face along GPS course 0 60000 1000 ms 30 200 10 cm/s 0 500 10 cm/s 50 500 10 Centimeters/Second 50 500 10 cm/s/s Disabled Enabled always RTL Enabled Continue with Mission in Auto Mode Enabled always LAND 925 1100 1 pwm 0 300 1 pwm Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Avoid_ADSB Guided_NoGPS SafeRTL 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,17:MOTBATT,18:IMU_FAST,19:IMU_RAW Default Default+RCIN Default+IMU Default+Motors NearlyAll-AC315 NearlyAll 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 Start-up and automatically calibrate ESCs 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 Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm Do Nothing Flip Simple Mode RTL Save Trim Save WP Camera Trigger RangeFinder Fence Super Simple Mode Acro Trainer Sprayer Auto AutoTune Land Gripper Parachute Enable Parachute Release Parachute 3pos Auto Mission Reset AttCon Feed Forward AttCon Accel Limits Retract Mount Relay On/Off Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw Avoidance PrecLoiter Object Avoidance ArmDisarm 0 127 Seconds 1000 8000 Centi-degrees 0 100 Very Soft Soft Medium Crisp Very Crisp 10 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 Disabled Enabled 50 490 1 Hz 1 10 1 10 0 3 0.1 0 3 0.1 Disabled Leveling Leveling and Limited -0.5 1.0 Disabled Very Low Low Medium High Very High 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 0.05 0.000 3.000 0 1000 Percent*10 0.000 0.400 1.000 100.000 Hz 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 Stopped Running Do Not Use in RTL and Land Use in RTL and Land 0 5 Auto Guided RTL Land Brake Throw Upward Throw Drop Disabled Enabled 0:ADSBMavlinkProcessing -0.5 1.0 Disabled Very Low Low Medium High Very High 0 1 Undefined Quad Hexa Octa OctaQuad Y6 Heli Tri SingleCopter CoaxCopter True ArduPlane AntennaTracker Copter Rover 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 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 0 100 1 meters Barometer GPS GPS vehicle only 1 10 1 Hz -90 0 1 Degrees 0 90 1 Degrees 0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS Default Disabled 0.0 3.0 0.01 0.0 3.0 0.01 0 4000 10 Percent*10 0.001 0.1 0.001 0.0 3.0 0.01 0.0 3.0 0.01 0 4000 10 Percent*10 0.001 0.1 0.001 1 255 True 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 Disabled APM2-Default PX4/Pixhawk-Default MANUAL LEARNING STEERING HOLD AUTO RTL GUIDED 1 255 1 255 Disabled Enabled 0 30 1 seconds 0:Steering,1:Throttle None Steering Throttle Disabled Enabled Disabled APM TriggerPin0 APM TriggerPin1 APM TriggerPin2 APM TriggerPin3 APM TriggerPin4 APM TriggerPin5 APM TriggerPin6 APM TriggerPin7 APM TriggerPin8 Pixhawk TriggerPin50 Pixhawk TriggerPin51 Pixhawk TriggerPin52 Pixhawk TriggerPin53 Pixhawk TriggerPin54 Pixhawk TriggerPin55 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 Disabled HOLD HoldAndDisarm 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 Disabled Enabled 1 100 1 100000 -1 16777215 NoInfo Light Small Large HighVortexlarge Heavy HighlyManuv Rotocraft RESERVED Glider LightAir Parachute UltraLight RESERVED UAV Space RESERVED EmergencySurface ServiceSurface PointObstacle NO_DATA L15W23 L25W28P5 L25W34 L35W33 L35W38 L45W39P5 L45W45 L55W45 L55W52 L65W59P5 L65W67 L75W72P5 L75W80 L85W80 L85W90 NoData Left2m Left4m Left6m Center Right2m Right4m Right6m NO_DATA AppliedBySensor Disabled Rx-Only Tx-Only Rx and Tx Enabled meters meters millibar seconds 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 Enable EKF2 Enable EKF3 Disabled THR_MIN PWM when disarmed 0 PWM when disarmed 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 None All Barometer Compass GPS Lock INS(INertial Sensors - accels & gyros) Parameters(unused) RC Failsafe Board voltage Battery Level Airspeed LoggingAvailable Hardware safety switch GPS configuration 0.25 3.0 m/s/s 0.1 Volts 0.1 Volts None I2C-MS4525D0 Analog I2C-MS5525 Use Don't Use 0.1 0.1 Disable Enable Bus0 Bus1 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 Disabled Enabled 3.000 12.000 3.000 12.000 3.000 6.000 0.5 10.0 0.08 0.30 0.005 0.01 0.5 0.01 0 1 0.01 Percent 0.0 0.02 0.001 1 100 1 Hz 0.08 0.30 0.005 0.01 0.5 0.01 0 1 0.01 Percent 0.0 0.02 0.001 1 100 1 Hz 0.10 0.50 0.005 0.010 0.05 0.01 0 1 0.01 Percent 0.000 0.02 0.001 1 100 1 Hz 0.1 0.25 0.5 0.9 0.5 0.9 Disabled 1 0 1000 Centi-Degrees 0.08 0.35 0.005 0.01 0.6 0.01 0 1 0.01 0.001 0.03 0.001 1 20 1 Hz 0.08 0.35 0.005 0.01 0.6 0.01 0 1 0.01 0.001 0.03 0.001 1 20 1 Hz 0.180 0.60 0.005 0.01 0.06 0.01 0 1 0.01 0.000 0.02 0.001 1 20 1 Hz Disabled Enabled Remain in AVOID_ADSB Resume previous flight mode RTL Resume if AUTO else Loiter seconds seconds meters meters meters meters 0:StopAtFence,1:UseProximitySensor None StopAtFence UseProximitySensor All 0 4500 3 30 meters Disabled Analog Voltage Only Analog Voltage and Current Solo Bebop SMBus-Maxell Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh 1 Watts Disabled Analog Voltage Only Analog Voltage and Current Solo Bebop SMBus-Maxell Disabled A0 A1 Pixhawk A13 PX4 Disabled A1 A2 Pixhawk A12 PX4 Amps/Volt Volts 50 mAh 1 Amps None Pozyx -90 90 0.000001 degrees -180 180 0.000001 degrees 0 10000 1 meters -180 +180 1 degrees No PWMs Two PWMs Four PWMs Six PWMs Three PWMs and One Capture True Disabled Enabled Auto True Disabled Enabled Auto True Disabled Enabled True Disabled 50Hz 75Hz 100Hz 150Hz 200Hz 250Hz 300Hz True -32767 32768 Disabled Enabled Dynamic ID/Update 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14 Disabled Enabled True -1 80 degreesC AUTO PX4V1 Pixhawk Pixhawk2 Pixracer PixhawkMini Pixhawk2Slim VRBrain 5.1 VRBrain 5.2 VR Micro Brain 5.1 VR Micro Brain 5.2 VRBrain Core 1.0 VRBrain 5.4 True Disabled Enabled Disabled 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 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 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 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 0 3600 Servo Relay 0 50 deciseconds 1000 2000 pwm 1000 2000 pwm 0 1000 meters Low High 0 10000 milliseconds 0 180 Degrees Disabled PX4 AUX1 PX4 AUX2 PX4 AUX3 PX4 AUX4(fast capture) PX4 AUX5 PX4 AUX6 TriggerLow TriggerHigh Disabled Enabled First Relay Second Relay Third Relay Fourth Relay Servo 1000 2000 1 pwm 1000 2000 1 pwm 0 32000 1 Meters 0 5000 1 Milliseconds 0 10000 100 cm -90 90 1 deg/s -400 400 1 milligauss -400 400 1 milligauss -400 400 1 milligauss -3.142 3.142 0.01 Radians Disabled Internal-Learning EKF-Learning Disabled Enabled Disabled Enabled Disabled Use Throttle Use Current -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 ForcedExternal -400 400 1 milligauss -400 400 1 milligauss -400 400 1 milligauss -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 milligauss -400 400 1 milligauss -400 400 1 milligauss -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 ForcedExternal 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 ForcedExternal 4 32 Very Strict Strict Default Relaxed 0.1 Disabled Enabled GPS 3D Vel and 2D Pos GPS 2D vel and 2D pos GPS 2D pos No GPS 0.05 5.0 0.05 m/s 0.05 5.0 0.05 m/s 100 1000 25 0.1 10.0 0.1 m 100 1000 25 10 100 5 m 0 250 10 milliseconds Use Baro Use Range Finder Use GPS Use Range Beacon 0.1 10.0 0.1 m 100 1000 25 0 250 10 milliseconds 0.01 0.5 0.01 gauss When flying When manoeuvring Never After first climb yaw reset Always 100 1000 25 0.5 5.0 0.1 m/s 100 1000 25 0.1 10.0 0.1 m 100 1000 25 1.0 4.0 0.1 rad/s 0.05 1.0 0.05 rad/s 100 1000 25 0 250 10 milliseconds 0.0001 0.1 0.0001 rad/s 0.01 1.0 0.01 m/s/s 0.00001 0.001 rad/s/s 0.000001 0.001 1/s 0.00001 0.001 m/s/s/s 0.01 1.0 0.1 m/s/s 0.0 1.0 0.1 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU 50 200 % 0.5 50.0 m 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU 0.05 1.0 0.05 rad 100 1000 25 10 50 5 cs 0.00001 0.01 gauss/s 0.00001 0.01 gauss/s -1 70 1 % 0 0.2 0.01 0.1 10.0 0.1 m 100 1000 25 0 250 10 milliseconds 2.0 6.0 0.5 m/s Disabled Enabled GPS 3D Vel and 2D Pos GPS 2D vel and 2D pos GPS 2D pos No GPS 0.05 5.0 0.05 m/s 0.05 5.0 0.05 m/s 100 1000 25 0.1 10.0 0.1 m 100 1000 25 10 100 5 m Use Baro Use Range Finder Use GPS Use Range Beacon 0.1 10.0 0.1 m 100 1000 25 0 250 10 milliseconds True 0.01 0.5 0.01 gauss When flying When manoeuvring Never After first climb yaw reset Always 100 1000 25 0.5 5.0 0.1 m/s 100 1000 25 0.1 10.0 0.1 m 100 1000 25 1.0 4.0 0.1 rad/s 0.05 1.0 0.05 rad/s 100 1000 25 0 250 10 milliseconds True 0.0001 0.1 0.0001 rad/s 0.01 1.0 0.01 m/s/s 0.00001 0.001 rad/s/s 0.00001 0.001 m/s/s/s 0.01 1.0 0.1 m/s/s 0.0 1.0 0.1 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU 50 200 % 0.5 50.0 m 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU 0.05 1.0 0.05 rad 100 1000 25 10 50 5 cs 0.00001 0.01 gauss/s 0.00001 0.01 gauss/s -1 70 1 % 0 0.2 0.01 0.1 10.0 0.1 m 100 1000 25 0 250 10 milliseconds True 2.0 6.0 0.5 m/s 0.5 2.5 0.1 m/s/s Disabled Enabled 0:Altitude,1:Circle,2:Polygon None Altitude Circle Altitude and Circle Polygon Altitude and Polygon Circle and Polygon All Report Only RTL or Land 10 1000 1 Meters 30 10000 Meters 1 10 Meters 1 20 Disabled Enabled -200 +200 1 -200 +200 1 -18000 +18000 1 m m m 0 255 True True 1 pascals True True 1 degrees celsius 0.1 meters FirstBaro 2ndBaro 3rdBaro Disabled Bus0 None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN SBF GSOF QURT ERB MAV NOVA True None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN SBF GSOF QURT ERB MAV NOVA True Portable Stationary Pedestrian Automotive Sea Airborne1G Airborne2G Airborne4G Disabled Enabled Any FloatRTK IntegerRTK True Disabled Enabled NoChange -100 90 Degrees send to first GPS send to 2nd GPS send to all None All External only Disabled log every sample log every 5 samples True 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS Leave as currently configured GPS-NoSBAS GPS+SBAS Galileo-NoSBAS Galileo+SBAS Beidou GPS+IMES+QZSS+SBAS (Japan Only) GLONASS GLONASS+SBAS GPS+GLONASS+SBAS Do not save config Save config Save only when needed 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS Leave as currently configured GPS-NoSBAS GPS+SBAS Galileo-NoSBAS Galileo+SBAS Beidou GPS+IMES+QZSS+SBAS (Japan Only) GLONASS GLONASS+SBAS GPS+GLONASS+SBAS Disables automatic configuration Enable automatic configuration 10Hz 8Hz 5Hz milliseconds 10Hz 8Hz 5Hz milliseconds m m m m m m 0 250 milliseconds 0 250 milliseconds Disabled Enabled None Servo EPM 1000 2000 PWM 1000 2000 PWM 1000 2000 PWM 0 255 seconds 0 255 -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 NoFlybar Flybar 0 1000 1 PWM 0 1000 1 PWM 0 2000 0 2000 Reversed Normal 1000 2000 1 PWM 1000 2000 1 PWM 1000 2000 1 PWM Disabled Passthrough Max collective Mid collective Min collective 0 1000 10 PWM Ch8 Input SetPoint Throttle Curve 0 500 1 pwm 0 60 Seconds 0 60 Seconds 0 1000 10 0 500 10 0 1000 10 0 1000 10 0 18000 100 Centi-Degrees 0 10 1 1 1000 10 0 500 10 Disabled Enabled None Chan1 Chan2 Chan3 Chan4 Chan5 Chan6 Chan7 Chan8 Chan9 Chan10 Chan11 Chan12 Chan13 Chan14 Chan15 Chan16 0.1 5 Seconds 1 10 Seconds 100 100000 1000 2000 1000 2000 1000 2000 1000 2000 None RPM1 RPM2 0 100 0 500 1 Percent*10 0 500 1 Percent*10 500 1000 1 Percent*10 500 1000 1 Percent*10 Disabled Very Low Low Medium High Very High 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 0.05 50 Never Start-up only Don't adjust the trims Assume first orientation was level Assume ACC_BODYFIX is perfectly aligned to the vehicle IMU 1 IMU 2 IMU 3 m m m m m m m m m True True True True True True 0 5 0.5 meters 0 90 0.1 degrees centi-Degrees 0.1 meters 0.1 seconds 0 30 0.1 meters 0 10 0.1 seconds 0 30 0.1 m/s 0 127 1 percent 0 127 1 seconds Disabled Servos to Neutral Servos to Zero PWM Disabled Enabled 0 100 Percent Standard Glide Slope 1000 2000 1 pwm 1000 2000 1 pwm None File MAVLink BothFileAndMAVLink Disabled Enabled Disabled Enabled Disabled Enabled 0 32766 1 Resume Mission Restart Mission 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 RC9 RC10 RC11 RC12 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 RC9 RC10 RC11 RC12 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 RC9 RC10 RC11 RC12 -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 True 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 RC9 RC10 RC11 RC12 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 RC9 RC10 RC11 RC12 -18000 17999 1 Centi-Degrees -18000 17999 1 Centi-Degrees Disabled RC5 RC6 RC7 RC8 RC9 RC10 RC11 RC12 -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 0 500 pwm 0.25 0.8 0.9:Low, 0.95:Default, 1.0:High 6 35 Volts 6 35 Volts 0 200 Amps Normal OneShot OneShot125 Brushed16kHz True 0 2000 0 2000 0.0:Low, 0.15:Default, 0.3:High 0.0:Low, 0.1:Default, 0.2:High 0 10 Seconds 0.2 0.8 Disabled Learn LearnAndSave PWM enabled while disarmed PWM disabled while disarmed 5 80 1 Degrees 0 2 0.1 Seconds 1 60 1 seconds 0.6 1.0 0.05 0 0.1 0.01 Off Low Medium High Disable Enable Disable Enable Disable ssd1306 sh1106 Disabled Enabled Always Land Enabled Strict None CompanionComputer IRLock SITL_Gazebo SITL 0 360 1 Centi-degrees -20 20 1 Centimeters -20 20 1 Centimeters 0.5 5 0.1 Hz None LightWareSF40C MAVLink TeraRangerTower Default Upside Down -180 180 degrees 0 360 degrees 0 45 degrees 0 360 degrees 0 45 degrees 0 360 degrees 0 45 degrees 0 360 degrees 0 45 degrees 0 360 degrees 0 45 degrees 0 360 degrees 0 45 degrees None LightWareSF40C MAVLink Default Upside Down -180 180 degrees 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 0.08 0.30 0.005 0.01 0.5 0.01 0 1 0.01 Percent 0.0 0.02 0.001 1 100 1 Hz 0.08 0.30 0.005 0.01 0.5 0.01 0 1 0.01 Percent 0.0 0.02 0.001 1 100 1 Hz 0.10 0.50 0.005 0.010 0.05 0.01 0 1 0.01 Percent 0.000 0.02 0.001 1 100 1 Hz 0.1 0.25 0.5 0.9 0.5 0.9 0.1 kilometers DoNotIncludeHome IncludeHome 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 0 200 pwm 1 8 1 True 1 8 1 True 1 8 1 True 1 8 1 True 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 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 None Analog MaxbotixI2C PulsedLightI2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial Bebop MAVLink uLanding LeddarOne MaxbotixSerial TrOneI2C 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 0.001 meters/Volt 0.001 Volts Linear Inverted Hyperbolic 1 centimeters 1 centimeters 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 1 milliseconds No Yes 0 32767 meters 5 127 1 centimeters 0 127 1 m m m None Analog MaxbotixI2C PulsedLightI2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial Bebop MAVLink uLanding LeddarOne MaxbotixSerial TrOneI2C 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 0.001 meters/Volt 0.001 Volts Linear Inverted Hyperbolic 1 centimeters 1 centimeters 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 1 milliseconds No Yes 0 127 1 centimeters 0 127 1 m m m None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial Bebop MAVLink uLanding LeddarOne MaxbotixSerial 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 0.001 meters/Volt 0.001 Volts Linear Inverted Hyperbolic 1 centimeters 1 centimeters 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 1 milliseconds No Yes 0 127 1 centimeters 0 127 1 m m m None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial Bebop MAVLink uLanding LeddarOne MaxbotixSerial 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 0.001 meters/Volt 0.001 Volts Linear Inverted Hyperbolic 1 centimeters 1 centimeters 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 1 milliseconds No Yes 0 127 1 centimeters 0 127 1 m m m None PX4-PWM 0.001 1 1 0.1 None PX4-PWM 0.001 Disabled AnalogPin RCChannelPwmValue APM2 A0 APM2 A1 APM2 A13 Pixracer Pixhawk ADC4 Pixhawk ADC3 Pixhawk ADC6 Pixhawk SBUS 0 5.0 0.01 Volt 0 5.0 0.01 Volt 0 2000 Microseconds 0 2000 Microseconds Disabled ShowSlips ShowOverruns 50Hz 100Hz 200Hz 250Hz 300Hz 400Hz True 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 MAVlink1 MAVLink2 None MAVLink1 MAVLink2 Frsky D Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar FrSky SPort Passthrough (OpenTX) Lidar360 Aerotenna uLanding Pozyx Beacon 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 None MAVLink1 MAVLink2 Frsky D Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar FrSky SPort Passthrough (OpenTX) Lidar360 Aerotenna uLanding Pozyx Beacon 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 None MAVLink1 MAVLink2 Frsky D Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar FrSky SPort Passthrough (OpenTX) Lidar360 Aerotenna uLanding Pozyx Beacon 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 None MAVLink1 MAVLink2 Frsky D Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar FrSky SPort Passthrough (OpenTX) Lidar360 Aerotenna uLanding Pozyx Beacon 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 None MAVLink1 MAVLink2 Frsky D Frsky SPort GPS Alexmos Gimbal Serial SToRM32 Gimbal Serial Lidar FrSky SPort Passthrough (OpenTX) Lidar360 Aerotenna uLanding Pozyx Beacon 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 Disable Enable 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 800 2200 1 pwm 800 2200 1 pwm 800 2200 1 pwm Normal Reversed 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 HeliRSC HeliTailRSC Motor1 Motor2 Motor3 Motor4 Motor5 Motor6 Motor7 Motor8 RCIN1 RCIN2 RCIN3 RCIN4 RCIN5 RCIN6 RCIN7 RCIN8 RCIN9 RCIN10 RCIN11 RCIN12 RCIN13 RCIN14 RCIN15 RCIN16 Ignition Choke Starter Throttle TrackerYaw TrackerPitch ThrottleLeft ThrottleRight TiltMotorLeft TiltMotorRight ElevonLeft ElevonRight VtailLeft VtailRight Boost Throttle Motor9 Motor10 Motor11 Motor12 Disabled Enabled 0 100 percentage 1000 2000 ms 0 1000 cm/s 0 100 percentage seconds seconds seconds 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 0.0 30.0 0.1 m/s 0.0 50.0 0.1 degree/(m/s) 0.0 4500.0 0.1 Centidegrees 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 -1 100 0.1 -1.0 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 -5 40 1 0.0 20.0 0.1 m/s -2.0 2.0 0.1 m/s/m 0.1 1.0 0.1 0.0 0.5 0.02 0.0 0.5 0.02 0.1 1.0 0.1 Disable Enable Disable Enable 1 meters Disable Chan5 Chan6 Chan7 Chan8 Chan9 Chan10 Chan11 Chan12 Chan13 Chan14 Chan15 Chan16 900 2100 900 2100 Disable Chan1 Chan3 Chan3 Chan4 Chan5 Chan6 Chan7 Chan8 Chan9 Chan10 Chan11 Chan12 Chan13 Chan14 Chan15 Chan16 Disable Enable 0 1 20 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 5000 1 cm/s/s/s 100 981 1 cm/s/s 25 250 1 cm/s/s Disable Enable 0 4 0.25 0 2 0.25 0 2 0.25 0.8 1.2 0.05 0 4500 1