True 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 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 0 127 1 percent 0 100 Percent 0 45 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: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 Disabled AlwaysAllowedInAuto Auto_LandApproach Auto_LoiterToAlt Auto_Loiter Auto_Waypoint Loiter RTL Circle Cruise FBWB Guided 0 127 1 seconds Disabled Servos to Neutral Servos to Zero PWM Disabled Enabled Default L1Controller 0 1 0.1 Percent 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 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 1100 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 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 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 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 None Feedback from mid stick High throttle cancels landing 0 10 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 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 10 Percent*10 0 300 1 pwm Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw Stabilize Acro AltHold Auto Guided Loiter RTL Circle Land Drift Sport Flip AutoTune PosHold Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 Relay2 On/Off Relay3 On/Off Relay4 On/Off Landing Gear Lost Copter Sound Motor Emergency Stop Motor Interlock Brake Throw 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 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 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 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 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 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 Disabled Default Default+IMU MANUAL LEARNING STEERING HOLD AUTO RTL GUIDED 1 255 1 255 Disabled Enabled 0 10 1 seconds 0:Steering None Steering 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 Lidar 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 Lidar 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 Lidar 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 Lidar 1200 2400 4800 9600 19200 38400 57600 111100 115200 500000 921600 1500000 True True 1 pascals True True 1 degrees celsius meters 0.1 FirstBaro 2ndBaro 3rdBaro None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN SBF GSOF True None AUTO uBlox MTK MTK19 NMEA SiRF HIL SwiftNav PX4-UAVCAN SBF GSOF 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 Servo Relay 0 50 seconds 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 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 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 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 None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial 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 0 127 1 centimeters None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial 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 0 127 1 None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial 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 0 127 1 None Analog APM2-MaxbotixI2C APM2-PulsedLightI2C PX4-I2C PX4-PWM BBB-PRU LightWareI2C LightWareSerial 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 0 127 1 Disable Enable meters 1 Disabled Enabled None Loiter LoiterAndDescend 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 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 HeliRSC HeliTailRSC 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 milligauss -400 400 1 milligauss -400 400 1 milligauss -3.142 3.142 0.01 Radians Disabled Enabled 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 -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 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 4 20 0.1 Disabled ShowSlips ShowOverruns 50Hz 100Hz 200Hz 250Hz 300Hz 400Hz True 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 0.05 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 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 Enable EKF2 Disable Enable Use Don't Use 0.1 0.1 Disable Enable 1 60 1 seconds 0.6 1.0 0.05 0 0.1 0.01 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 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 None File MAVLink BothFileAndMAVLink 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 1 Watts 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 1 Amps No PWMs Two PWMs Four PWMs Six PWMs Three PWMs and One Capture Disabled Enabled Auto Disabled Enabled Auto Disabled Enabled Disabled 50Hz 75Hz 100Hz 150Hz 200Hz 250Hz 300Hz -32767 32768 Disabled Enabled 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 Disabled Enabled 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 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed Disabled Enabled GPS 3D Vel and 2D Pos GPS 2D vel and 2D pos GPS 2D pos No GPS use optical flow 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 msec Use Baro Use Range Finder Use GPS 0.1 10.0 0.1 m 100 1000 25 0 250 10 msec 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 msec 0.0001 0.01 0.0001 rad/s 0.01 1.0 0.01 m/s/s 0.0000001 0.00001 rad/s 0.0000001 0.00001 1/s 0.00001 0.001 m/s/s 0.0001 0.01 gauss/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 1 127 50 200 % 0.5 50.0 m/s 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 Off Low Medium High Disable Enable Disabled Enabled 1000 2000 1000 2000 1000 2000 Never every 15 seconds every 30 seconds once per minute 1000 2000 1 pwm 1000 2000 1 pwm 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 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 5000 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 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 0.5 5 0.1 Hz 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 NoFlybar Flybar 0 1000 1 PWM 0 1000 1 PWM 50, 125, 250 Disabled Enabled Always Land Enabled Strict None CompanionComputer IRLock 0 500 0.100 5.000 0.100 5.000 0 1000 cm/s