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Depending on the control circuitry, this may include momentary open/close actions, or precise position control.\nOther grippers often have their own control software and interface for assigning control functions. Grippers which use RS485 for control can use a spare twisted wire pair in the tether for data transmission, whereas grippers with RS232 control require custom software on the Companion Computer.\nSupported Grippers and Manipulators\n\n\n\nThe following grippers have been used on ArduSub vehicles:\n\nBlue Robotics Newton Subsea Gripper (PWM output from autopilot)\nBlueprint Lab Series Grippers (RS485 through the tether)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/grippers-manipulators/","path":"/hardware/additional/grippers-manipulators/","title":"Grippers and Manipulators"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/":{"body":"Depth-rated indicator lights can provide visual indications of the status of electronics (e.g. when diving), the location of a device, or can be used as a light display (for visual appeal, or to attract marine life for study).\nSupported Indicator Lights\n\nBlue Robotics Subsea LED Indicator\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/","path":"/hardware/additional/indicators/","title":"Indicator Lights"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/":{"body":"Leak sensors are an important addition for saving an electronics enclosure should a leak occur.\nArduSub can be configured to read leak sensors through auxiliary servo pins on a Pixhawk when set to GPIO mode, and the dedicated leak pins on a Navigator. A failsafe action can be configured to either send a warning or automatically surface the vehicle when a leak is detected.\nSupported Sensors\n\n\n\nThe following sensor products are supported:\n\nBlue Robotics SOS Leak Sensor\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/","path":"/hardware/additional/leak-sensors/","title":"Leak Sensors"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/":{"body":"A variety of other sensors types can be useful in a marine environment, for research and/or to measure phenomena that improve the accuracy of other sensors and vehicle control. Sensors that may be of interest include\n\nconductivity\nhydrophones\nO2, salinity\npH\nsediment and water samplers\ntemperature\nultrasonic thickness gauge\n\nTemperature Sensor\nAn auxiliary external temperature sensor may be added for obtaining faster and more accurate readings than those from an integrated pressure sensor. Duplicate sensors are not supported (e.g. two of the same temperature sensor at different locations on the vehicle).\nArduSub has a pre-installed driver for the following sensor type:\n\nMeasurement Specialties TSYS01\n\nSupported Sensor Products\n\n\n\nThe following sensor products may be directly connected to an autopilot:\n\nCelsius Fast-Response, ±0.1°C Temperature Sensor (I2C)\nPCB for Celsius Fast-Response, ±0.1°C Temperature Sensor\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/","path":"/hardware/additional/other-sensors/","title":"Other Sensors (Temperature, Salinity, Thickness, etc)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/":{"body":"A positioning system is a useful addition to an ArduSub vehicle either for displaying numerical location coordinates or the position of the vehicle on a map in QGroundControl. \nBelow is an example of a Water Linked Underwater GPS System being used to locate a shipwreck:\n\n\n\n💡 The autopilot has the capability of utilizing an external positioning system to perform autonomous maneuvers like station keeping, 'click to go here', transects, and pre-planned waypoint missions, however this is IN DEVELOPMENT.\n\nGPS Module\nArduSub maintains the same GPS module drivers as the rest of the ArduPilot family of firmwares, so a compatible GPS module may be directly connected to the GPS port on the autopilot. Positioning information will only be available when the vehicle is on the surface and the module is out of the water. The module will not be able to obtain a fix if it is underwater due to high frequency radio waves being unable to penetrate the water medium.\nAcoustic positioning systems are the only reliable way of providing positioning information underwater.\nSBL Positioning Systems\nA short baseline (SBL) acoustic positioning system uses an acoustic transmitter on the vehicle to transmit timed acoustic pulses. These pulses are received by a series of multiple receivers on the surface in an arranged geometric pattern. The \"time of flight\" is calculated to when each receiver records the acoustic pulse and then a consolidated position for the underwater vehicle can be plotted.\nSBL systems can produce better positioning accuracy in highly reflective environments due to the adjustable receiver locations.\n\n\n\nImage Credit: Water Linked\nSupported SBL Systems\n\nWater Linked Underwater GPS Explorer Kit\n\nUSBL Positioning Systems\nAn ultra-short baseline acoustic positioning system is similar to SBL system where an acoustic pulse is transmitted from a tranciever on the vehicle and then recieved by a receiver on the surface. Instead of simply calculating time of flight, range and bearing are calculated by USBLs.\nUSBLs are more compact than SBL systems where the receiver's transducers are fixed in one tranciever head.\n\n\n\nImage Credit: Cerulean Sonar\nSupported USBL Systems\n\nCerulean Sonar ROV Locator\n\nDVL Positioning Systems\nA doppler velocity log sends multiple acoustic pulses in different directions, and measures the frequency change (doppler shift) from the transmitted pulses to estimate velocity of the vehicle relative to the bottom. Combining the velocity estimate with measurements from the accelerometers, compass, and gyroscopes in the onboard inertial measurement unit (IMU), the vehicle's orientation and relative position can be estimated via dead-reckoning. If the time of flight of the pulses is measured, it is also possible to estimate vehicle altitude above the bottom, similar to an altimeter.\n\n\n\nImage Credit: Water Linked\nDVLs do not require external acoustic hardware or infrastructure, so are better suited to long distance autonomous missions than an SBL or USBL system.\nThe relative positioning estimates from a DVL system mean the estimate is prone to drift over time. Accurate long term positioning requires occasional corrections from an absolute positioning system (like a GPS Module at the surface).\nSupported DVL Systems\n\nWater Linked DVL-A50\nCerulean Sonar DVL-75\nTeledyne Wayfinder\n\nThere is a comparison of some common DVLs in this forum comment.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/","path":"/hardware/additional/positioning-sensors/","title":"Positioning Sensors (GPS / DVL)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/":{"body":"Servos are a useful addition to any underwater vehicle build where a component needs to be actuated or rotated. Normal servos can be installed inside the watertight enclosures to rotate things such as cameras. Depth rated servos can be used outside of enclosures.\nUp to three servos can be operated via joystick button functions when connected to the appropriate signal output.\nMost autopilots cannot provide power to the servos so a 5V power supply will need to be connected to the output signal rail.\nSupported Servos\nArduSub supports either analog or digital PWM controlled servos. The following have been tested:\n\nHitec HS-5055MG Servo (used in the Blue Robotics Camera Tilt System)\nBlue Trail Engineering Waterproof Servo SER-110X\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/","path":"/hardware/additional/servos/","title":"Servos"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/":{"body":"Sonars are useful pieces of equipment in situations where visibility is low. Sonars can help get ranges to surfaces or acoustically image targets to better understand their shape.\nIf you want to learn more, see this guide to sonar technology and acoustic devices.\nEchosounders and Altimeters\nA useful type of sonar is an echosounder, also known as an altimeter when installed on an underwater vehicle. An altimeter is a single-beam sonar which gets a range measurement from the bottom of the ROV to the seabed. This is useful in low visibility situations where the distance to the bottom is unknown.\nIn addition to getting a distance reading, echosounders can provide the full echo response (echo strength versus time) which can be plotted like the display of a fishfinder sonar. This is useful for locating targets or obstructions beneath the vehicle.\nSupported Echosounders/Altimeters\n\n\n\n\nBlue Robotics Ping Sonar Altimeter and Echosounder (USB connection to Onboard Computer)\n\nScanning Imaging Sonars\nMechanically scanning sonars are useful tools for navigation, and acoustically imaging targets in a top-down 2-dimensional representation. If you are new to scanning sonars, Blue Robotics has written an introductory guide which illustrates the key concepts and can help with image recognition: Understanding and Using Scanning Sonars.\nSupported Scanning Sonars\nOnly the Blue Robotics Ping360 Scanning Sonar is fully integrated with the ArduSub system and has advanced features such as heading rotation and a direct connection to the Onboard Computer.\n\n\n\n\nBlue Robotics Ping360 Scanning Imaging Sonar (USB, RS485, or Ethernet)\n\nThe following scanning sonars have been installed on ArduSub vehicles:\n\nTritech Micron Sonar (RS485 connection through tether)\nImagenex 852 Ultra-Miniature Imaging (RS485 connection through tether)\n\nMultibeam Sonars\nMultibeam imaging sonars are similar to mechanically scanning sonars in that they acoustically image targets in a top-down 2-dimensional representation. However, with multiple sonar beams the refresh rate is much higher presenting a real-time image of what is in front of the vehicle.\nThe following multibeam sonars have been installed on ArduSub vehicles:\n\nCerulean Omniscan 450 ForwardScan and SideScan (Ethernet + BlueOS Extension)\nBlueprint Subsea Oculus Series Multibeam Sonars (Ethernet)\nTritech International Gemini 720im Multibeam Sonar (Ethernet or RS485 connection through tether)\nTritech International Gemini 720ik Multibeam Sonar (Ethernet)\n\nProfiling Sonars\nProfiling sonars are 1-dimensional echosounders with a rotating head that are able to get accurate acoustic range data to create a \"profile\" of the surrounding environment. These types of sonars are useful for inspecting material buildup in pipes.\nThe following profiling sonars have been installed on ArduSub vehicles:\n\nImagenex 831L Pipe Profiling Sonar\nImagenex 881A Profiling Sonar\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/","path":"/hardware/additional/sonars/","title":"Sonars"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/","path":"/hardware/recommended/","title":"Recommended Extra Hardware"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/":{"body":"ArduSub supports control and attitude atabilization for up to 3-axis gimbals. The most common gimbal type for underwater vehicles is a 1-axis tilt mount, since the majority of standard ROV frames have control over the other Degrees of Freedom (DoF).\nArduSub supports both simple servo-driven (PWM) gimbals in which the autopilot's onboard IMU controls the stabilisation and brushless direct drive (UART) gimbals that have their own self-stabilization controllers.\nSupported Camera Gimbals\n\n\n\nThe following gimbals are supported in ArduSub:\n\nServo Gimbals\nGremsy Pixy U \nSimpleBGC (aka AlexMos) Gimbal Controller\nSToRM32 Gimbal Controller (communicates with MAVLink)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/","path":"/hardware/recommended/camera-gimbal/","title":"Camera Tilt Mount / Gimbal"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/":{"body":"Lights are an integral component of any marine vehicle where optical inspection is being conducted. ArduSub has the ability to control lights that use Pulse Width Modulation (PWM) signals. Two independent light sets may be controlled by two different output channels.\nSupported Light Products\n\n\n\nThe following light products may be controlled by an autopilot:\n\nLumen Subsea Light for ROV/AUV\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/","path":"/hardware/recommended/lights/","title":"Lights"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/":{"body":"An external pressure sensor is required for obtaining depth readings and enabling Depth Hold functionality. Only one sensor may be connected at a time.\nArduSub has pre-installed drivers for the following sensor types:\n\nMeasurement Specialties MS5837-30BA\nKeller 7LD Series\n\nSupported Sensor Products\n \nThe following sensor products may be directly connected to an autopilot:\n\nBar30 High-Resolution 300m Depth/Pressure Sensor\nPCB for Bar30 High-Resolution 300m Depth/Pressure Sensor\nBar100 High-Resolution 1000m Depth/Pressure Sensor\n\nThere is a comparison in the Blue Robotics Technical Reference.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/","path":"/hardware/recommended/pressure-sensor/","title":"Pressure Sensor"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/":{"body":"Although optional and not necessary for basic functionality, tether interfaces increase the range and reliability of Ethernet communications.\nInterfaces for Copper Twisted Wire Pairs\nInterface boards which use the Homeplug AV standard provide a robust high-speed, long-distance Ethernet connection over a single pair of wires. These boards enable HD video and high-bandwidth data over 300m+ tether lengths.\n\n\n\nThe following interface boards are supported:\n\nBlue Robotics Fathom-X Tether Interface Board Set\n\nInterfaces for Fiber Optic Cable\nWith communications being Ethernet based, fiber optic cables may also be used with Ethernet-to-Fiber converters installed inside the ROV and topside.\nThe following fiber optic interface boards have been known to work: \n\nSeaView SVS-700BR Fiber Kit\nDeltaROV Subsea Fiber to Ethernet Communication Kit\nDeepWaterEngineering Fiber to Ethernet Converter\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/","path":"/hardware/recommended/tether-interface/","title":"Tether Interface"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/","path":"/hardware/required/","title":"Required Hardware"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/":{"body":"A valuable aspect of subsea robotics is being able to see underwater and at high pressures for extended periods, which aids navigation, inspections, exploration, and cleaning and repair work. Cameras can be located inside an electronics enclosure, or can be depth-rated and operate on the outside of the vehicle.\nBlueOS (on the Onboard Computer) includes a camera manager which can configure and stream multiple camera feeds to the Control Station Computer, from both USB and ethernet (IP) cameras. QGroundControl can switch between different video streams, but is currently only capable of displaying (and recording) one stream at a time, and only supports H.264-encoded streams. Additional video streams can be viewed in external applications/software, including VideoLan (VLC) and Open Broadcast Studio (OBS).\nSupported Cameras\nUSB Cameras\nMost modern USB cameras are compatible with the BlueOS.\n \nThe following USB cameras have been tested to work:\n\nBlue Robotics Low-Light HD USB Camera\nDeepWater Exploration exploreHD (depth rated)\n\nCamera Serial Interface (CSI) Cameras\nWith a Camera Serial Interface (CSI) input on the Raspberry Pi, this type of camera may be used with the Companion software. A Raspberry Pi camera module came pre-installed on the BlueROV2 until mid-2017 when it was replaced by the Low-Light HD USB Camera.\n\n\n\nThe following CSI cameras have been tested to work:\n\nRaspberry Pi Camera Module v2\n\nEthernet (IP) Cameras\nAn Ethernet Switch is required unless the camera stream is sent through an independent part of the Tether. The minimum requirements for working directly with QGroundControl are:\n\nH.264 Output\nRTSP\n\n\nUnderstanding Camera Properties\nChoosing a camera setup for underwater use can be challenging, because a tradeoff must be made between the various properties of the camera, its lens, and the bandwidth required for streaming. If you are mostly interested in camera alternatives and improvements, there's a brief comparison table here of some options that have been posted about on the Blue Robotics forum.\nThe following points discuss the tradeoffs between different camera properties, with a focus on the underwater environment: \nHigher Resolution\n\nassuming sufficient lighting and good enough optics, more pixels means clearer fine details, but \nmore pixels means more data to send, so requires more communication bandwidth and storage space, and reduces options for multiple additional cameras/sensors to be run at the same time\nalso generally means the physical sensor for each pixel is smaller, which reduces low-light performance\nsome high resolution cameras support moving the output frame when streaming at lower resolutions, which can allow for optical zooming, panning, and tilting without needing to move the camera itself - that's most effective with a wide-angle lens\n\nHigher Framerate\n\nthe \"time\" equivalent of higher resolution - instead of finer details within an image, higher framerate captures more moments in time, so is better suited for capturing short events, or following fast objects -> results are generally perceived as \"smoother\"\nless time between frames also reduces the maximum exposure time, which can reduce the amount of light that can be captured (so can reduce low-light performance)\nmore frames means more data, so uses additional communication bandwidth and storage space\n\nImproved Low-Light Performance\n\nprimarily comes from a larger physical sensor, which can capture more photons\nbetter low-light performance means your lights don't need to be as strong, which reduces backscatter and bright reflections off bubbles and particles in the water\nthis forum comment shows the kind of difference it can make\n\nWider Angle Lens\n\na wider viewing angle means you can see more of what's around you without needing to turn the camera or vehicle\na wider view into the same set of pixels means each pixel covers more area, so there's less fine detail that can be resolved\nhuman eyes have their own viewing angle they're used to seeing, so very wide angle camera views can be a bit disorienting\na wider viewing angle means a larger portion of the viewing sphere is mapped onto the flat image plane, so the resulting image often looks quite distorted\n\nMore Efficient Encoding (H265)\n\nH264 has been the standard high-efficiency stream encoding for many years, because it can be calculated quickly, has low bandwidth requirements, and produces videos that look similar to the captured input - it's currently the only option that's available by default in our vehicles\nH265 is the next generation beyond H264 - it requires some extra computation to encode (which can potentially add some latency), but it's a more efficient encoding -> either less data can be sent to achieve the same quality (so potentially more cameras could be streamed), or the same amount of data could be sent but with a significant quality improvement\nencoding is important for streaming, but efficient encodings work by removing data that humans aren't very good at seeing -> that's great if only humans are looking at the output, but makes it harder/less effective to do video processing and computer vision on the results\n\nImage Pre-processing\n\nencoding removes large amounts of data that may be helpful for processing, so if processing is going to occur it generally has better results if it can be done in real time on the raw image frames from the camera sensor, before they get encoded\npre-processing on the camera makes the camera more complex and expensive, and the real-time requirement can place some limitations on what kinds of processing are feasible, and how much processing can be applied\nif the stream uses the processed results, the time taken to process any single frame is added to the stream latency, and too much display latency makes the vehicle feel unresponsive and harder to control\nif pre-processing is applied in the camera module to improve visibility/colour (as in the DWE exploreHD), the video receiver can display better results that are easier to analyse and interpret as they appear\nsome cameras support custom processing, which can be used for visibility improvements but also machine-learning detection of regions or objects of interest\ncustom processing has the benefit that you can choose which processing you want to apply, and people can share results and benefit from each other's developments, but also means you need resources to develop processing that works well for your use-case, and/or access to others who have developed it already\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/","path":"/hardware/required/camera/","title":"Camera"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/":{"body":"The Control Station Computer is the operator's primary interface to their vehicle(s). In subsea applications it is often referred to as the Topside Computer or Surface Computer, whereas for rovers and aerial vehicles it is normally called the Ground Control Station (GCS) Computer.\nWhen controlling an ArduSub vehicle, the Topside Computer is tethered to the Onboard Computer. The vehicle is controlled using Control Station software such as the QGroundControl application, which displays the live video feed and telemetry data to the operator, and accepts piloting inputs from a connected joystick for manual control.\nSupported Operating Systems\nQGroundControl has been tested and is supported on the following operating systems:\n\nWindows 10 - 64 bit\nmacOS 10.20 or later\nUbuntu 18.04 or later\n\nThe minimum recommended hardware for running QGroundControl is:\n\ni5 processor or better\n8GB RAM\nSolid-state hard drive (SSD)\n\nConsumer Level Computers\nQGroundControl runs well on consumer level laptops meeting the minimum specifications in the section above. These types of laptops are generally made to be used indoors, so they lack bright screens and water resistance for use outside. If possible, try to find a computer with the brightest screen possible. The engineering department of Blue Robotics uses this Dell XPS 15 laptop as of 2020.\nRugged and Semi-Rugged Computers\nIf a brighter screen or water resitance are required, then a rugged or semi-rugged laptop may be a better choice. Modern rugged laptops are about equal with their consumer level counterparts from a performance perspective.\n\nPanasonic Toughbook Series\nDell Rugged Series\nGetac Laptops and Tablets\n\nCustom Computers\nWith the introduction of the ArduSub system and compatibility with major operating systems, users are building their own topside computer systems, usually into ruggedized travel cases. A high brightness screen (>1000 nits) is installed in the lid and the computer components are located into the remainder of the case. \nBelow is an example of such a case from Blue Link:\n\n\n\nUnsupported Operating Systems\nAlthugh QGroundControl can be downloaded onto these operating systems, ArduSub is not currently supported on:\n\nAndroid\niOS\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/","path":"/hardware/required/control-computer/","title":"Control Station (Topside) Computer"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/":{"body":"ArduSub is designed to work with brushless and brushed Electronic Speed Controllers (ESCs) to control motors and thrusters. Different motor types require different ESCs, so the ESCs must match the motor type they are being used to control.\nArduPilot does not support controlling both brushed and brushless motors at the same time.\nThe minimum requirements for an ESC of either type are:\n\nBi-directional control - they operate in forward and reverse (most ESCs for UAVs and hobby drones only operate in one direction)\nControlled by a PWM input where:\n\n1900 us is full forward\n1500 us is stopped\n1100 us is full reverse\n\n\n\nBrushless ESCs\n\n\n\nThe following brushless ESCs are supported for use with ArduSub:\n\nBlue Robotics Basic ESC\nBlue Robotics Basic ESC 500\n\nThere is a comparison of properties in the Blue Robotics Technical Reference.\nBrushed ESCs\nNo brushed ESCs have been reported to be used with ArduSub, but here is the reference documentation from ArduPilot:\n\nBrushed Motor ESCs\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/","path":"/hardware/required/esc/","title":"Electronic Speed Controllers (ESCs)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/":{"body":"In the ArduSub control system, the flight controller board is the hardware component which the ArduSub autopilot firmware is loaded onto. The autopilot processes the pilot input and sensor data, and controls the motors, lights, servos, and relays on the vehicle.\nAlthough there are many different flight controller boards available, here are the general characteristics:\n\nAbility to load any ArduPilot binary firmware file (Copter, Plane, Rover/Boat, Sub)\nManual control and semi-autonomous/stablilised \"flight\" modes\nAutonomous waypoint-based control (with an appropriate positioning sensor)\nVarious input and output connections for connecting multiple peripherals\nEmbedded IMU(s), magnetic compass(es) and gyroscope(s) to determine vehicle's orientation\nCapable of transmitting telemetry data, and saving vehicle logs\n\nRecommended Flight Controllers\nThe first flight controller board recommended for ArduSub was the Pixhawk 1 manufactured by 3D Robotics (3DR) from 2013-2016. When 3DR exited manufacturing hardware in 2016, different manufacturers took the open source design files and created their own flight controllers. The original Pixhawk design has been retired, and Blue Robotics has designed the Navigator as a modern replacement that is tailored to ArduSub use cases.\n \nThe following list is the recommended flight controller boards for use with ArduSub:\n\nBlue Robotics Navigator (requires Raspberry Pi 4B Onboard Computer)\nThe original 3DR (3D Robotics) Pixhawk 1\nmRobotics (Mayan Robotics) Pixhawk 1\nHolyBro Pixhawk 4\nCube Module\n\nThere is a comparison in the Blue Robotics Technical Reference.\nNot Recommended Flight Controllers\nWith feedback from other users, the following flight controller boards are not recommended for use with Ardusub:\n\nRadioLink Pixhawk \n\nIssues: Proprietary firmware binaries, only works with RadioLink version of Mission Planner, incorrect connectors.\n\n\nAny flight controller with Picoblade series connectors instead of JST-GH or DF13 connectors.\n\nIssue: Is not connector compatible with Blue Robotics products.\n\n\n\nOther Flight Controllers That Haven't Been Tested\nArduPilot has has a list of other compatible flight controllers: Autopilot Hardware Options\nThese boards have not been tested or reported to work with ArduSub. \n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/","path":"/hardware/required/flight-controller/","title":"Flight Controller Board"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/":{"body":"A joystick (also known as a hand controller, gamepad, etc) when connected to the topside computer is how the user provides control inputs to the vehicle. These inputs may be in the form of movement (stick control) or action items (button presses).\nQGroundControl has support for Microsoft's XInput Game Controller API meaning any controller which supports XInput may be used.\nQGroundControl supports controllers with up to 4 control axes and 16 buttons.\nSupported Commercial Joysticks\nThe following joysticks have been tested and are supported:\n\nLogitech F310 (wired)\nLogitech F710 (wireless)\nMicrosoft Xbox One controllers (wired and wireless)\nSony PlayStation 4 controllers (wired only)\n\nCustom Joysticks\nWith the inclusion of industry standard drivers and APIs, custom controllers can be built using a joystick control board and standard buttons and sticks. \nMarine Simulation wrote a quick tutorial on how to do so: Custom Hand Controller Design\nThe following control boards have been known to work:\n\nLeo Bodnar Electronics\n\nBU0836X 12-Bit Joystick Board\nBU0836A 12-Bit Joystick Controller\nBU0836A-NC 12-Bit Joystick Controller No Connectors\n\n\nUltimarc\n\nMini-PAC Standard\n\n\n\nCustom Joystick Examples\nBelow are some examples of custom joysticks created by ArduSub users.\n\nROVsim Surface Control Unit mk4\n\n\n\n\n\nDeltaROV ROV USB Joystick v1.0\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/","path":"/hardware/required/joystick/","title":"Joystick / Gamepad"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/":{"body":"Onboard Computers are usually small single board computers (SBCs) which can be connected to an Autopilot Board, and can facilitate MAVLink communications with the Control Station as well as enable interfacing and processing of sensors the autopilot is poorly suited to handle.\nWhen paired with an independent Autopilot Board (e.g. Pixhawk) the Onboard Computer is sometimes called a Companion Computer. Other boards like the Navigator use the Onboard Computer as a host, and cannot run without one.\nAn ArduSub-based vehicle is expected to include an Onboard Computer running BlueOS or the older ArduSub Companion Computer Software (often refered to as the \"Companion Software\").\nSupported Hardware\n \nBlueOS can run on Raspberry Pi boards from the 3 Model B and onwards. It is designed to be portable, and support for additional Linux-based SBCs will come in future. Contributions are welcomed.\nThe Companion Software is only supported for use with the Raspberry Pi 3 Model B.\nThere is a comparison of Onboard Computer specifications in the Blue Robotics Technical Reference.\nReferences\nThe ArduPilot documentation has more reading material about Companion Computers, but those software images are not compatible with the ArduSub system.\n\nArduPilot: Companion Computers\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/","path":"/hardware/required/onboard-computer/","title":"Onboard (Companion) Computer"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/":{"body":"A power sensing module provides analog current and voltage sensing to an autopilot onboard the vehicle. ArduSub supports various modules in the firmware and when properly set, QGroundControl will give visual indications of battery level and current consumption.\nRecommended Power Sensing Modules\n\n\n\nThe following power sensing modules have been tested and recommended for use:\n\nBlue Robotics Power Sense Module\n\nDoes not provide power to the autopilot, voltage and current sensing only.\n\n\nMauch HS Series Power Module\n\nRequires an additional 4-14S Hybrid BEC to power the board.\n\n\n\nNot Recommended Power Sensing Modules\nThe following modules have been tested and are not recommended for use:\n\nmRobotics Classic Power Module (BEC) 4S LIPOs\n\nIssue: For unknown reasons, will short circuit and send 12V to the autopilot, damaging both the power module and autopilot.\n\n\n\nOther Power Sensing Modules\nArduPilot has a list of other power sensing modules, but these have not been tested or verified:\n\nBattery Monitors (aka Power Monitors/Modules)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/","path":"/hardware/required/power-sensor/","title":"Power Sensor / Battery Monitor"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/":{"body":"A stable power supply and power distribution system is an integral part of any underwater vehicle. The power supply needs to be able to power all the onboard electronics and keep up with the current draw of the thrusters.\nThe working voltage is usually tied to the maximum voltage rating of the thrusters. Voltage regulators step down higher voltages into lower ones to power the electronics.\nBattery Power\nFor safety reasons, it is recommended to design an underwater vehicle to operate on battery power. Lithium type batteries are a popular choice due to their high storage capacity in a compact form factor. When selecting a battery for a new vehicle, here are a few important considerations:\n\n\nVoltage: Lithium batteries often specify their nominal pack voltage as well as a corresponding \"S\" rating indicating the number of 3.7V cells in wired in Series inside the battery. The voltage of your battery needs to be matched to the ratings of your ESCs and thrusters.\n\nFor example, Blue Robotics Basic ESCs support 2S through 6S (7-26V) batteries, however the T200 Thruster is only rated for a maximum of 20V. Therefore, the the maximum recommended battery to use in this system is a 4S battery as a fully charged battery is 16.8V.\n\n\n\nCapacity Batteries usually specify their capacity in units of mAh, the larger this number, the more energy the battery will store, and the longer you can run your ROV.\n\n\nCurrent Rating: Batteries usually specify a C rating for Current. In order to calculate the rated current in Amps, multiply the capacity of the battery in Ah (mAh/1000) times the C rating. For example, a 10000 mAh (10 Ah) battery with a 10C rating is rated for 100 Amps. As a general rule of thumb, your battery should be rated for a continuous current draw of 15 Amps times the number of thrusters.\n\n\nA battery will also need its own watertight enclosure (WTE) unless space is allocated inside the main electronics enclosure.\n\n\n\nThese batteries are known to fit inside a 3\" inner diameter (WTE):\n\nBlue Robotics Lithium-ion Battery (14.8V, 18Ah)\nBlue Robotics Lithium-ion Battery (14.8V, 15.6Ah)\nBlue Robotics Lithium-Polymer Battery (14.8V, 10Ah)\n\nThere is a comparison of the main properties in the Blue Robotics Technical Reference.\nPower Over Tether (High Voltage)\nWith the inherent danger of high voltage around water, the ArduSub developers highly discourage users from making their own high voltage power supplies.\nIf a power over tether solution is required, then Blue Robotics sells the Outland Technology Power Supply (OTPS) for the BlueROV2. Although the OTPS system was resigned to replace the battery enclosure on the BlueROV2, it can be adapted for other vehicle projects.\n\n\n\nVoltage Regulators\nDepending on the electronics used, the primary voltage of the vehicle will most likely need to be stepped down and regulated more more sensitive electronics such as Companion Computers and autopilots. \nThe following regulators have been tested to provide adequate power:\n\nBlue Robotics 5V 6A Power Supply\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/","path":"/hardware/required/power-supply/","title":"Power Supply / Battery"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/":{"body":"A tether is a length of cable which connects the Onboard Computer to the Topside Computer. Radio frequency (RF) waves do not travel far through water and acoustic modems have limited bandwidth, so a tether is a critical component to connect the vehicle to a surface computer.\nRequirements\nThe Onboard Computer communicates with 10/100/1000 Base Ethernet. If 10/100 Base is acceptable, a standard Cat 5 cable may be used to connect to the vehicle and topside computer. The maximum transmission length of Cat5 cable is around 100m.\n\n\n\nAlternative tether types (twisted pair, fiber optic, etc) and lengths require a Tether Interface.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/","path":"/hardware/required/tether/","title":"Tether"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/":{"body":"Thrusters are necessary to maneuver an underwater vehicle around. The number and orientation of thrusters on a vehicle determines the number of degrees of freedom (DoF) it may maneuver in.\nThe maximum current draw of the power supply on the vehicle is an important consideration when choosing what type and how many thrusters to mount on a vehicle. The maximum current draw at the intended voltage should be totaled up for all the thrusters. If this exceeds the current rating of the power supply, either lower the supply voltage, limit the maximum thrust, or remove thrusters.\nArduSub can be used with both brushless and brushed thrusters, but all motion-control thrusters on a single vehicle must use the same type of control signal, and each thruster needs to be paired to an Electronic Speed Controller (ESC) that matches its motor type.\nBrushless Thrusters\nBrushless thrusters are a good choice for propulsion as they do not have brushes that must be protected or wear out. \nRecommended Brushless Thrusters\n\n\n\nThe following brushless thrusters have been tested and are recommended for use:\n\nBlue Robotics T200 Thruster\nBlue Robotics T500 Thruster\n\nThere is a comparison of properties in the Blue Robotics Technical Reference.\nBrushed Thrusters\nBrushed thrusters are generally cheaper than brushless types, but must be internally sealed with either an oil compensating system or have shaft seals.\nPartially disasembled bilge pump motors with propellers have been used in the past for a shallow water sealed thruster unit.\nBrushed thrusters must use an appropriate brushed ESC.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/","path":"/hardware/required/thrusters/","title":"Thrusters"},"https://docs.bluerobotics.com/ardusub-zola/integrations/":{"body":" \n \n \n \n \n\n\nflowchart TD\n start(Something<br>to integrate)\n start --> Q1{purpose?}\n Q1 -- change the world --> Actuator\n Actuator --> QA1{control signal?}\n QA1 -- \"binary<br>(ON/OFF)\" --> ADO(Autopilot<br>digital outputs):::Autopilot\n QA1 -- \"CAN bus\" ---> QCAN{\"controlled<br>by autopilot?\"}\n QCAN -- \"yes\" --> ACP(\"Autopilot<br>CAN port<br>(+ArduPilot<br>library)\"):::Autopilot\n QCAN -- \"no\" --> STP1[Spare<br>tether<br>pair] --> CSC1(\"Control Station<br>Computer\"):::Computer\n QA1 -- \"PWM (servo /<br>duty-cycle)\" --> APO(Autopilot<br>PWM outputs):::Autopilot\n QA1 -- \"USB<br>serial\" ---> OCUSB1[\"Onboard Computer<br>USB port\"] --> BEUIP(\"BlueOS Extension<br>(USB over IP)\"):::BlueOS\n QA1 -- \"UART serial /<br>MAVLink\" --> ASP(\"Autopilot serial<br>UART port<br>(+ArduPilot library)\"):::Autopilot\n Q1 -- measure the world --> Sensor\n Sensor --> QS1{signal type?}\n QS1 -- \"UART<br>serial\" --> ASP\n QS1 -- \"USB\" --> OCUSB2[\"Onboard Computer<br>USB port\"]\n QS1 -- \"RSxxx<br>serial\" --> QUSB{RS485 and<br>unrelated to<br>vehicle?}\n QUSB -- \"no\" --> USC1[USB-serial<br>converter] --> OCUSB2 --> QOC1{used/<br>processed<br>by vehicle?}\n QOC1 -- \"no\" --> QOC2{Control<br>Station Computer<br>accepts UDP?}\n QOC2 -- \"no\" --> BEUIP\n QOC2 -- \"yes\" --> BB(BlueOS Bridges):::BlueOS\n QOC1 -- \"yes\" --> QOC3{UVC Camera?}\n QOC3 -- \"yes\" -----> BCM(BlueOS<br>Camera Manager):::BlueOS\n QOC3 -- \"no\" ----> BEC2(Custom BlueOS<br>Extension):::BlueOS\n QUSB -- \"yes\" --> STP2[Spare tether pair] --> URC[USB-RS485<br>converter] --> CSC2(Control Station<br>Computer):::Computer\n QS1 -- \"I2C\" --> AI2C(\"Autopilot<br>I2C port<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS1 -- \"binary<br>(ON/OFF)\" --> ASD(\"Autopilot<br>digital input<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS1 -- \"analog<br>electrical\" --> QS2{measurable<br>quantity?}\n QS2 -- \"resistance /<br>current\" --> QS3{relevant to<br>autopilot?}\n QS3 -- \"no\" --> STP3[Spare tether pair] --> QS4{needs<br>automatic<br>logging?}\n QS4 -- \"no\" --> MM(Multimeter):::Other\n QS4 -- \"yes\" --> C2[\"Resistor(s)\"] --> ADC2[ADC device] --> CSC2\n QS3 -- \"yes\" --> C1[\"Resistor(s)\"] --> AADC(\"Autopilot ADC<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS2 -- \"voltage\" --> AADC\n QS1 -- \"Ethernet\" --> ES[Ethernet Switch] --> QE1{IP Camera?}\n QE1 -- \"no\" --> QE2{relevant<br>to vehicle<br>control?}\n QE2 -- \"no\" --> QE3{tether<br>type?}\n QE3 -- \"other\" --> TI[Tether Interface] --> Tether\n QE3 -- \"ethernet<br>cable\" --> Tether --> CSC2\n QE2 -- \"yes\" --> BEC2\n QE1 -- \"yes\" --> BCM\n QS1 -- \"MIPI<br>CSI-2\" --> QRPi{Raspberry Pi<br>Compatible?}\n QRPi -- \"yes\" --> BCM\n QRPi -- \"no\" --> Co{{Converter}}\n QS1 -- \"Other<br>(HDMI,<br>etc)\" --> Co -. supported<br>signal<br>type .-> QS1\n\n subgraph SK [style key]\n direction TB\n Hyperlink:::Link -- \"Common<br>path\" --> Q{question}\n subgraph Endpoints\n direction LR\n EZ(minimal<br>configuration<br>required):::Easy ~~~\n MED(isolated<br>high-level<br>development<br>required):::Medium ~~~\n HARD(integrated<br>low-level<br>development<br>required):::Hard\n end\n end\n\n %% ---------------- ARROW STYLING ----------------- %%\n %% style individual arrows, nth, counted in definition order\n %% label components (e.g. color) cannot override edgeLabel overrides\n linkStyle 15,42,57 stroke:lightseagreen,color:lightseagreen;\n linkStyle 55,56 stroke:plum,color:plum;\n\n %% ----------------- NODE STYLING ------------------ %%\n %% integration difficulties\n classDef Easy stroke:green,stroke-width:6px;\n classDef Medium stroke:orange,stroke-width:6px;\n classDef Hard stroke:red,stroke-width:6px;\n\n class ADO,APO,BB,BEUSB,BCM,BEUIP Easy;\n class BEC1,BEC2,BOS Medium;\n class ACP,ASP,AI2C,ASD,AADC Hard;\n\n %% primary integration endpoint\n classDef BlueOS fill:#339,color:#eee;\n classDef Autopilot fill:#933,color:#eee;\n classDef Computer fill:#363,color:#eee;\n classDef Other fill:#939,color:#eee;\n\n %% hyperlinks\n click ADO \"/hardware/additional/electronic-switches/\"\n click ACP \"https://ardupilot.org/dev/docs/can-bus.html\"\n click BB \"/software/onboard/BlueOS-1.0/advanced-usage/#bridges\"\n click CSC1 \"/hardware/required/control-computer/\"\n click CSC2 \"/hardware/required/control-computer/\"\n click BCM \"/software/onboard/BlueOS-1.0/advanced-usage/#video\"\n click ES \"/hardware/additional/ethernet-switch/\"\n click TI \"/hardware/recommended/tether-interface/\"\n click URC \"https://bluerobotics.com/store/comm-control-power/tether-interface/bluart-r1-rp/\"\n\n classDef Link color:#0af;\n class ADO,ACP,BB,CSC1,CSC2,BCM,ES,TI,URC Link;\n\n\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/integrations/","path":"/integrations/","title":"Integrations"},"https://docs.bluerobotics.com/ardusub-zola/software/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/","path":"/software/","title":"Software"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/","path":"/software/autopilot/","title":"Autopilot (Flight Controller)"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/","path":"/software/autopilot/ArduSub-4.1/","title":"ArduSub"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/","path":"/software/autopilot/ArduSub-4.1/developers/","title":"Developers"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/":{"body":"\nThis is a list of log messages which may be present in DataFlash (.bin) logs produced and stored onboard ArduSub vehicles (see Log Parameters for creation details). It is possible to add a new message by modifying the firmware.\nDataFlash logs can be downloaded and analysed from a computer or through BlueOS.\nACC\nIMU accelerometer data\nFieldNameDescription\nTimeUSTime since system startup\nIaccelerometer sensor instance number\nSampleUStime since system startup this sample was taken\nAccXacceleration along X axis\nAccYacceleration along Y axis\nAccZacceleration along Z axis\n\nADSB\nAutomatic Dependant Serveillance - Broadcast detected vehicle information\nFieldNameDescription\nTimeUSTime since system startup\nICAO_addressTransponder address\nLatVehicle latitude\nLngVehicle longitude\nAltVehicle altitude\nHeadingVehicle heading\nHor_velVehicle horizontal velocity\nVer_velVehicle vertical velocity\nSquarkTransponder squawk code\n\nAHR2\nBackup AHRS data\nFieldNameDescription\nTimeUSTime since system startup\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nAltEstimated altitude\nLatEstimated latitude\nLngEstimated longitude\nQ1Estimated attitude quaternion component 1\nQ2Estimated attitude quaternion component 2\nQ3Estimated attitude quaternion component 3\nQ4Estimated attitude quaternion component 4\n\nAOA\nAngle of attack and Side Slip Angle values\nFieldNameDescription\nTimeUSTime since system startup\nAOAAngle of Attack calculated from airspeed, wind vector,velocity vector\nSSASide Slip Angle calculated from airspeed, wind vector,velocity vector\n\nARM\nArming status changes\nFieldNameDescription\nTimeUSTime since system startup\nArmStatetrue if vehicle is now armed\nArmChecksarming bitmask at time of arming\nForcedtrue if arm/disarm was forced\nMethodmethod used for arming\n\nARSP\nAirspeed sensor data\nFieldNameDescription\nTimeUSTime since system startup\nIAirspeed sensor instance number\nAirspeedCurrent airspeed\nDiffPressPressure difference between static and dynamic port\nTempTemperature used for calculation\nRawPressRaw pressure less offset\nOffsetOffset from parameter\nUTrue if sensor is being used\nHTrue if sensor is healthy\nHfpProbability sensor has failed\nPriTrue if sensor is the primary sensor\n\nASM1\nAirSim simulation data\nFieldNameDescription\nTimeUSTime since system startup\nTUSSimulation's timestamp\nRSimulation's roll\nPSimulation's pitch\nYSimulation's yaw\nGXSimulated gyroscope, X-axis\nGYSimulated gyroscope, Y-axis\nGZSimulated gyroscope, Z-axis\n\nASM2\nMore AirSim simulation data\nFieldNameDescription\nTimeUSTime since system startup\nAXsimulation's acceleration, X-axis\nAYsimulation's acceleration, Y-axis\nAZsimulation's acceleration, Z-axis\nVXsimulation's velocity, X-axis\nVYsimulation's velocity, Y-axis\nVZsimulation's velocity, Z-axis\nPXsimulation's position, X-axis\nPYsimulation's position, Y-axis\nPZsimulation's position, Z-axis\nAltsimulation's gps altitude\nSDsimulation's earth-frame speed-down\n\nATDE\nAutoTune data packet\nFieldNameDescription\nTimeUSTime since system startup\nAnglecurrent angle\nRatecurrent angular rate\n\nATT\nCanonical vehicle attitude\nFieldNameDescription\nTimeUSTime since system startup\nDesRollvehicle desired roll\nRollachieved vehicle roll\nDesPitchvehicle desired pitch\nPitchachieved vehicle pitch\nDesYawvehicle desired yaw\nYawachieved vehicle yaw\nErrRPlowest estimated gyro drift error\nErrYawdifference between measured yaw and DCM yaw estimate\nAEKFactive EKF type\n\nAUXF\nAuixillary function invocation information\nFieldNameDescription\nTimeUSTime since system startup\nfunctionID of triggered function\nposswitch position when function triggered\nsourcesource of auxillary function invocation\nresulttrue if function was successful\n\nBARO\nGathered Barometer data\nFieldNameDescription\nTimeUSTime since system startup\nIbarometer sensor instance number\nAltcalculated altitude\nPressmeasured atmospheric pressure\nTempmeasured atmospheric temperature\nCRtderived climb rate from primary barometer\nSMStime last sample was taken\nOffsetraw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS\nGndTemptemperature on ground, specified by parameter or measured while on ground\nHealthtrue if barometer is considered healthy\n\nBAT\nGathered battery data\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nVoltmeasured voltage\nVoltRestimated resting voltage\nCurrmeasured current\nCurrTotconsumed Ah, current * time\nEnrgTotconsumed Wh, energy this battery has expended\nTempmeasured temperature\nResestimated battery resistance\nRemPctremaining percentage\n\nBCL\nBattery cell voltage information\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nVoltbattery voltage\nV1first cell voltage\nV2second cell voltage\nV3third cell voltage\nV4fourth cell voltage\nV5fifth cell voltage\nV6sixth cell voltage\nV7seventh cell voltage\nV8eighth cell voltage\nV9ninth cell voltage\nV10tenth cell voltage\nV11eleventh cell voltage\nV12twelfth cell voltage\n\nBCL2\nBattery cell voltage information\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nV13thirteenth cell voltage\nV14fourteenth cell voltage\n\nBCN\nBeacon information\nFieldNameDescription\nTimeUSTime since system startup\nHealthTrue if beacon sensor is healthy\nCntNumber of beacons being used\nD0Distance to first beacon\nD1Distance to second beacon\nD2Distance to third beacon\nD3Distance to fourth beacon\nPosXCalculated beacon position, x-axis\nPosYCalculated beacon position, y-axis\nPosZCalculated beacon position, z-axis\n\nCAM\nCamera shutter information\nFieldNameDescription\nTimeUSTime since system startup\nGPSTimemilliseconds since start of GPS week\nGPSWeekweeks since 5 Jan 1980\nLatcurrent latitude\nLngcurrent longitude\nAltcurrent altitude\nRelAltcurrent altitude relative to home\nGPSAltaltitude as reported by GPS\nRollcurrent vehicle roll\nPitchcurrent vehicle pitch\nYawcurrent vehicle yaw\n\nCMD\nExecuted mission command information\nFieldNameDescription\nTimeUSTime since system startup\nCTotTotal number of mission commands\nCNumThis command's offset in mission\nCIdCommand type\nPrm1Parameter 1\nPrm2Parameter 2\nPrm3Parameter 3\nPrm4Parameter 4\nLatCommand latitude\nLngCommand longitude\nAltCommand altitude\nFrameFrame used for position\n\nCOFS\nCurrent compass learn offsets\nFieldNameDescription\nTimeUSTime since system startup\nOfsXbest learnt offset, x-axis\nOfsYbest learnt offset, y-axis\nOfsZbest learnt offset, z-axis\nVarerror of best offset vector\nYawbest learnt yaw\nWVarerror of best learn yaw\nNnumber of samples used\n\nCSRV\nServo feedback data\nFieldNameDescription\nTimeUSTime since system startup\nIdServo number this data relates to\nPosCurrent servo position\nForceForce being applied\nSpeedCurrent servo movement speed\nPowAmount of rated power being applied\n\nCTRL\nAttitude Control oscillation monitor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nRMSRollPLPF Root-Mean-Squared Roll Rate controller P gain\nRMSRollDLPF Root-Mean-Squared Roll rate controller D gain\nRMSPitchPLPF Root-Mean-Squared Pitch Rate controller P gain\nRMSPitchDLPF Root-Mean-Squared Pitch Rate controller D gain\nRMSYawLPF Root-Mean-Squared Yaw Rate controller P+D gain\n\nCTUN\nControl Tuning information\nFieldNameDescription\nTimeUSTime since system startup\nThIthrottle input\nABstangle boost\nThOthrottle output\nThHcalculated hover throttle\nDAltdesired altitude\nAltachieved altitude\nBAltbarometric altitude\nDSAltdesired rangefinder altitude\nSAltachieved rangefinder altitude\nTAltterrain altitude\nDCRtdesired climb rate\nCRtclimb rate\n\nD16\nGeneric 16-bit-signed-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nD32\nGeneric 32-bit-signed-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDFLT\nGeneric float storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDMS\nDataFlash-Over-MAVLink statistics\nFieldNameDescription\nTimeUSTime since system startup\nNCurrent block number\nDpNumber of times we rejected a write to the backend\nRTNumber of blocks sent from the retry queue\nRSNumber of resends of unacknowledged data made\nFaAverage number of blocks on the free list\nFmnMinimum number of blocks on the free list\nFmxMaximum number of blocks on the free list\nPaAverage number of blocks on the pending list\nPmnMinimum number of blocks on the pending list\nPmxMaximum number of blocks on the pending list\nSaAverage number of blocks on the sent list\nSmnMinimum number of blocks on the sent list\nSmxMaximum number of blocks on the sent list\n\nDSF\nOnboard logging statistics\nFieldNameDescription\nTimeUSTime since system startup\nDpNumber of times we rejected a write to the backend\nBlkCurrent block number\nBytesCurrent write offset\nFMnMinimum free space in write buffer in last time period\nFMxMaximum free space in write buffer in last time period\nFAvAverage free space in write buffer in last time period\n\nDSTL\nDeepstall Landing data\nFieldNameDescription\nTimeUSTime since system startup\nStgDeepstall landing stage\nTHdgTarget heading\nLatLanding point latitude\nLngLanding point longitude\nAltLanding point altitude\nXTCrosstrack error\nTravelExpected travel distance vehicle will travel from this point\nL1IL1 controller crosstrack integrator value\nLoiterwind estimate loiter angle flown\nDesDeepstall steering PID desired value\nPDeepstall steering PID Proportional response component\nIDeepstall steering PID Integral response component\nDDeepstall steering PID Derivative response component\n\nDU16\nGeneric 16-bit-unsigned-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDU32\nGeneric 32-bit-unsigned-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nEAH1\nExternal AHRS data\nFieldNameDescription\nTimeUSTime since system startup\nRolleuler roll\nPitcheuler pitch\nYaweuler yaw\nVNvelocity north\nVEvelocity east\nVDvelocity down\nLatlatitude\nLonlongitude\nAltaltitude AMSL\nUXYuncertainty in XY position\nUVuncertainty in velocity\nURuncertainty in roll\nUPuncertainty in pitch\nUYuncertainty in yaw\n\nECYL\nEFI per-cylinder information\nFieldNameDescription\nTimeUSTime since system startup\nInstCylinder this data belongs to\nIgnTIgnition timing\nInjTInjection time\nCHTCylinder head temperature\nEGTExhaust gas temperature\nLambdaEstimated lambda coefficient (dimensionless ratio)\nIDXIndex of the publishing ECU\n\nEFI\nElectronic Fuel Injection system data\nFieldNameDescription\nTimeUSTime since system startup\nLPReported engine load\nRpmReported engine RPM\nSDTSpark Dwell Time\nATMAtmospheric pressure\nIMPIntake manifold pressure\nIMTIntake manifold temperature\nECTEngine Coolant Temperature\nOilPOil Pressure\nOilTOil temperature\nFPFuel Pressure\nFCRFuel Consumption Rate\nCFVConsumed fueld volume\nTPSThrottle Position\nIDXIndex of the publishing ECU\n\nEFI2\nElectronic Fuel Injection system data - redux\nFieldNameDescription\nTimeUSTime since system startup\nHealthyTrue if EFI is healthy\nESEngine state\nGEGeneral error\nCSECrankshaft sensor status\nTSTemperature status\nFPSFuel pressure status\nOPSOil pressure status\nDSDetonation status\nMSMisfire status\nDebSDebris status\nSPUSpark plug usage\nIDXIndex of the publishing ECU\n\nERR\nSpecifically coded error messages\nFieldNameDescription\nTimeUSTime since system startup\nSubsysSubsystem in which the error occurred\nECodeSubsystem-specific error code\n\nESC\nFeedback received from ESCs\nFieldNameDescription\nTimeUSmicroseconds since system startup\nInstanceESC instance number\nRPMreported motor rotation rate\nVoltPerceived input voltage for the ESC\nCurrPerceived current through the ESC\nTempESC temperature in centi-degrees C\nCTotcurrent consumed total mAh\nMotTempmeasured motor temperature in centi-degrees C\nErrerror rate\n\nEV\nSpecifically coded event messages\nFieldNameDescription\nTimeUSTime since system startup\nIdEvent identifier\n\nFMT\nMessage defining the format of messages in this file (Read more...)\nFieldNameDescription\nTypeunique-to-this-log identifier for message being defined\nLengththe number of bytes taken up by this message (including all headers)\nNamename of the message being defined\nFormatcharacter string defining the C-storage-type of the fields in this message\nColumnsthe labels of the message being defined\n\nFMTU\nMessage defining units and multipliers used for fields of other messages\nFieldNameDescription\nTimeUSTime since system startup\nFmtTypenumeric reference to associated FMT message\nUnitIdseach character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format\nMultIdseach character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format\n\nFOLL\nFollow library diagnostic data\nFieldNameDescription\nTimeUSTime since system startup\nLatTarget latitude\nLonTarget longitude\nAltTarget absolute altitude\nVelNTarget earth-frame velocity, North\nVelETarget earth-frame velocity, East\nVelDTarget earth-frame velocity, Down\nLatEVehicle latitude\nLonEVehicle longitude\nAltEVehicle absolute altitude\n\nFTN\nFilter Tuning Messages\nFieldNameDescription\nTimeUSmicroseconds since system startup\nNDnnumber of active dynamic harmonic notches\nDnF1dynamic harmonic notch centre frequency for motor 1\nDnF2dynamic harmonic notch centre frequency for motor 2\nDnF3dynamic harmonic notch centre frequency for motor 3\nDnF4dynamic harmonic notch centre frequency for motor 4\n\nFTN1\nFFT Filter Tuning\nFieldNameDescription\nTimeUSmicroseconds since system startup\nPkAvgpeak noise frequency as an energy-weighted average of roll and pitch peak frequencies\nBwAvgbandwidth of weighted peak freqency where edges are determined by FFT_ATT_REF\nDnFdynamic harmonic notch centre frequency\nSnXsignal-to-noise ratio on the roll axis\nSnYsignal-to-noise ratio on the pitch axis\nSnZsignal-to-noise ratio on the yaw axis\nFtXharmonic fit on roll of the highest noise peak to the second highest noise peak\nFtYharmonic fit on pitch of the highest noise peak to the second highest noise peak\nFtZharmonic fit on yaw of the highest noise peak to the second highest noise peak\nFHFFT health\nTcFFT cycle time\n\nFTN2\nFFT Noise Frequency Peak\nFieldNameDescription\nTimeUSmicroseconds since system startup\nIdpeak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder\nPkXnoise frequency of the peak on roll\nPkYnoise frequency of the peak on pitch\nPkZnoise frequency of the peak on yaw\nDnFdynamic harmonic notch centre frequency\nBwXbandwidth of the peak freqency on roll where edges are determined by FFT_ATT_REF\nBwYbandwidth of the peak freqency on pitch where edges are determined by FFT_ATT_REF\nBwZbandwidth of the peak freqency on yaw where edges are determined by FFT_ATT_REF\nEnXpower spectral density bin energy of the peak on roll\nEnYpower spectral density bin energy of the peak on roll\nEnZpower spectral density bin energy of the peak on roll\n\nGPA\nGPS accuracy information\nFieldNameDescription\nIGPS instance number\nTimeUSTime since system startup\nVDopvertical degree of procession\nHAcchorizontal position accuracy\nVAccvertical position accuracy\nSAccspeed accuracy\nYAccyaw accuracy\nVVtrue if vertical velocity is available\nSMStime since system startup this sample was taken\nDeltasystem time delta between the last two reported positions\n\nGPS\nInformation received from GNSS systems attached to the autopilot\nFieldNameDescription\nTimeUSTime since system startup\nIGPS instance number\nStatusGPS Fix type; 2D fix, 3D fix etc.\nGMSmilliseconds since start of GPS Week\nGWkweeks since 5 Jan 1980\nNSatsnumber of satellites visible\nHDophorizontal precision\nLatlatitude\nLnglongitude\nAltaltitude\nSpdground speed\nGCrsground course\nVZvertical speed\nYawvehicle yaw\nUboolean value indicating whether this GPS is in use\n\nGRAW\nRaw uBlox data\nFieldNameDescription\nTimeUSTime since system startup\nWkMSreceiver TimeOfWeek measurement\nWeekGPS week\nnumSVnumber of space vehicles seen\nsvspace vehicle number of first vehicle\ncpMescarrier phase measurement\nprMespseudorange measurement\ndoMesDoppler measurement\nmesQImeasurement quality index\ncnocarrier-to-noise density ratio\nlliloss of lock indicator\n\nGRXH\nRaw uBlox data - header\nFieldNameDescription\nTimeUSTime since system startup\nrcvTimereceiver TimeOfWeek measurement\nweekGPS week\nleapSGPS leap seconds\nnumMeasnumber of space-vehicle measurements to follow\nrecStatreceiver tracking status bitfield\n\nGRXS\nRaw uBlox data - space-vehicle data\nFieldNameDescription\nTimeUSTime since system startup\nprMesPseudorange measurement\ncpMesCarrier phase measurement\ndoMesDoppler measurement\ngnssGNSS identifier\nsvSatellite identifier\nfreqGLONASS frequency slot\nlockcarrier phase locktime counter\ncnocarrier-to-noise density ratio\nprDestimated pseudorange measurement standard deviation\ncpDestimated carrier phase measurement standard deviation\ndoDestimated Doppler measurement standard deviation\ntrktracking status bitfield\n\nGUID\nGuided mode target information\nFieldNameDescription\nTimeUSTime since system startup\nTypeType of guided mode\npXTarget position, X-Axis\npYTarget position, Y-Axis\npZTarget position, Z-Axis\nvXTarget velocity, X-Axis\nvYTarget velocity, Y-Axis\nvZTarget velocity, Z-Axis\n\nGYR\nIMU gyroscope data\nFieldNameDescription\nTimeUSTime since system startup\nIgyroscope sensor instance number\nSampleUStime since system startup this sample was taken\nGyrXmeasured rotation rate about X axis\nGyrYmeasured rotation rate about Y axis\nGyrZmeasured rotation rate about Z axis\n\nHEAT\nIMU Heater data\nFieldNameDescription\nTimeUSTime since system startup\nTempCurrent IMU temperature\nTargTarget IMU temperature\nPProportional portion of response\nIIntegral portion of response\nOutController output to heating element\n\nICMB\nICM20789 diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nTrawraw temperature from sensor\nPrawraw pressure from sensor\nPpressure\nTtemperature\n\nIMU\nInertial Measurement Unit data\nFieldNameDescription\nTimeUSTime since system startup\nIIMU sensor instance number\nGyrXmeasured rotation rate about X axis\nGyrYmeasured rotation rate about Y axis\nGyrZmeasured rotation rate about Z axis\nAccXacceleration along X axis\nAccYacceleration along Y axis\nAccZacceleration along Z axis\nEGgyroscope error count\nEAaccelerometer error count\nTIMU temperature\nGHgyroscope health\nAHaccelerometer health\nGHzgyroscope measurement rate\nAHzaccelerometer measurement rate\n\nIOMC\nIOMCU diagnostic information\nFieldNameDescription\nTimeUSTime since system startup\nMemFree memory\nTSIOMCU uptime\nNPktNumber of packets received by IOMCU\nNerrProtocol failures on MCU side\nNerr2Reported number of failures on IOMCU side\nNDelNumber of delayed packets received by MCU\n\nJSN1\nLog data received from JSON simulator\nFieldNameDescription\nTimeUSTime since system startup (us)\nTStampSimulation's timestamp (s)\nRSimulation's roll (rad)\nPSimulation's pitch (rad)\nYSimulation's yaw (rad)\nGXSimulated gyroscope, X-axis (rad/sec)\nGYSimulated gyroscope, Y-axis (rad/sec)\nGZSimulated gyroscope, Z-axis (rad/sec)\n\nJSN2\nLog data received from JSON simulator\nFieldNameDescription\nTimeUSTime since system startup (us)\nVNsimulation's velocity, North-axis (m/s)\nVEsimulation's velocity, East-axis (m/s)\nVDsimulation's velocity, Down-axis (m/s)\nAXsimulation's acceleration, X-axis (m/s^2)\nAYsimulation's acceleration, Y-axis (m/s^2)\nAZsimulation's acceleration, Z-axis (m/s^2)\nANsimulation's acceleration, North (m/s^2)\nAEsimulation's acceleration, East (m/s^2)\nADsimulation's acceleration, Down (m/s^2)\n\nLAND\nSlope Landing data\nFieldNameDescription\nTimeUSTime since system startup\nstageprogress through landing sequence\nf1Landing flags\nf2Slope-specific landing flags\nslopeSlope to landing point\nslopeInitInitial slope to landing point\naltORangefinder correction\nfhHeight for flare timing.\n\nLGR\nLanding gear information\nFieldNameDescription\nTimeUSTime since system startup\nLandingGearCurrent landing gear state\nWeightOnWheelsTrue if there is weight on wheels\n\nMAG\nInformation received from compasses\nFieldNameDescription\nTimeUSTime since system startup\nImagnetometer sensor instance number\nMagXmagnetic field strength in body frame\nMagYmagnetic field strength in body frame\nMagZmagnetic field strength in body frame\nOfsXmagnetic field offset in body frame\nOfsYmagnetic field offset in body frame\nOfsZmagnetic field offset in body frame\nMOXmotor interference magnetic field offset in body frame\nMOYmotor interference magnetic field offset in body frame\nMOZmotor interference magnetic field offset in body frame\nHealthtrue if the compass is considered healthy\nStime measurement was taken\n\nMAV\nGCS MAVLink link statistics\nFieldNameDescription\nTimeUSTime since system startup\nchanmavlink channel number\ntxptransmitted packet count\nrxpreceived packet count\nrxdpperceived number of packets we never received\nflagscompact representation of some stage of the channel\nssstream slowdown is the number of ms being added to each message to fit within bandwidth\ntftimes buffer was full when a message was going to be sent\n\nMAVC\nMAVLink command we have just executed\nFieldNameDescription\nTimeUSTime since system startup\nTStarget system for command\nTCtarget component for command\nFrcommand frame\nCmdmavlink command enum value\nCurcurrent flag from mavlink packet\nACautocontinue flag from mavlink packet\nP1first parameter from mavlink packet\nP2second parameter from mavlink packet\nP3third parameter from mavlink packet\nP4fourth parameter from mavlink packet\nXX coordinate from mavlink packet\nYY coordinate from mavlink packet\nZZ coordinate from mavlink packet\nRescommand result being returned from autopilot\nWLtrue if this command arrived via a COMMAND_LONG rather than COMMAND_INT\n\nMMO\nMMC3416 compass data\nFieldNameDescription\nTimeUSTime since system startup\nNxnew measurement X axis\nNynew measurement Y axis\nNznew measurement Z axis\nOxnew offset X axis\nOynew offset Y axis\nOznew offset Z axis\n\nMODE\nvehicle control mode information\nFieldNameDescription\nTimeUSTime since system startup\nModevehicle-specific mode number\nModeNumalias for Mode\nRsnreason for entering this mode; enumeration value\n\nMON\nMain loop stuck data\nFieldNameDescription\nTimeUSTime since system startup\nLDelayTime main loop has been stuck for\nTaskCurrent scheduler task number\nIErrInternal error mask; which internal errors have been detected\nIErrCntInternal error count; how many internal errors have been detected\nIErrLnLine on which internal error ocurred\nMavMsgId of the last mavlink message processed\nMavCmdId of the last mavlink command processed\nSemLineLine number of semaphore most recently taken\nSPICntNumber of SPI transactions processed\nI2CCntNumber of i2c transactions processed\n\nMOTB\nBattery information\nFieldNameDescription\nTimeUSTime since system startup\nLiftMaxMaximum motor compensation gain\nBatVoltRatio betwen detected battery voltage and maximum battery voltage\nBatResEstimated battery resistance\nThLimitThrottle limit set due to battery current limitations\n\nMPPT\nInformation about the Maximum Power Point Tracker sensor\nFieldNameDescription\nTimeUSTime since system startup\nInstDriver Instance\nSNSerial number\nFFaults\nTempTemperature\nInVInput Voltage\nInCInput Current\nInPInput Power\nOutVOutput Voltage\nOutCOutput Current\nOutPOutput Power\n\nMSG\nTextual messages\nFieldNameDescription\nTimeUSTime since system startup\nMessagemessage text\n\nMULT\nMessage mapping from single character to numeric multiplier\nFieldNameDescription\nTimeUSTime since system startup\nIdcharacter referenced by FMTU\nMultnumeric multiplier\n\nNKF0\nEKF2 beacon sensor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nIDBeacon sensor ID\nrngBeacon range\ninnovBeacon range innovation\nSIVsqrt of beacon range innovation variance\nTRBeacon range innovation consistency test ratio\nBPNBeacon north position\nBPEBeacon east position\nBPDBeacon down position\nOFHHigh estimate of vertical position offset of beacons rel to EKF origin\nOFLLow estimate of vertical position offset of beacons rel to EKF origin\nOFNalways zero\nOFEalways zero\nOFDalways zero\n\nNKF1\nEKF2 estimator outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nVNEstimated velocity (North component)\nVEEstimated velocity (East component)\nVDEstimated velocity (Down component)\ndPDFiltered derivative of vertical position (down)\nPNEstimated distance from origin (North component)\nPEEstimated distance from origin (East component)\nPDEstimated distance from origin (Down component)\nGXEstimated gyro bias, X axis\nGYEstimated gyro bias, Y axis\nGZEstimated gyro bias, Z axis\nOHHeight of origin above WGS-84\n\nNKF2\nEKF2 estimator secondary outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nAZbiasEstimated accelerometer Z bias\nGSXGyro Scale Factor (X-axis)\nGSYGyro Scale Factor (Y-axis)\nGSZGyro Scale Factor (Z-axis)\nVWNEstimated wind velocity (North component)\nVWEEstimated wind velocity (East component)\nMNMagnetic field strength (North component)\nMEMagnetic field strength (East component)\nMDMagnetic field strength (Down component)\nMXMagnetic field strength (body X-axis)\nMYMagnetic field strength (body Y-axis)\nMZMagnetic field strength (body Z-axis)\nMIMagnetometer used for data\n\nNKF3\nEKF2 innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nIVNInnovation in velocity (North component)\nIVEInnovation in velocity (East component)\nIVDInnovation in velocity (Down component)\nIPNInnovation in position (North component)\nIPEInnovation in position (East component)\nIPDInnovation in position (Down component)\nIMXInnovation in magnetic field strength (X-axis component)\nIMYInnovation in magnetic field strength (Y-axis component)\nIMZInnovation in magnetic field strength (Z-axis component)\nIYAWInnovation in vehicle yaw\nIVTInnovation in true-airspeed\nRErrAccumulated relative error of this core with respect to active primary core\nErScA consolidated error score where higher numbers are less healthy\n\nNKF4\nEKF2 variances\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nSVSquare root of the velocity variance\nSPSquare root of the position variance\nSHSquare root of the height variance\nSMMagnetic field variance\nSVTtilt error convergence metric\nerrRPFiltered error in roll/pitch estimate\nOFNMost recent position reset (North component)\nOFEMost recent position reset (East component)\nFSFilter fault status\nTSFilter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)\nSSFilter solution status\nGPSFilter GPS status\nPIPrimary core index\n\nNKF5\nEKF2 Sensor innovations (primary core) and general dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nNINormalised flow variance\nFIXOptical flow LOS rate vector innovations from the main nav filter (X-axis)\nFIYOptical flow LOS rate vector innovations from the main nav filter (Y-axis)\nAFIOptical flow LOS rate innovation from terrain offset estimator\nHAGLHeight above ground level\noffsetEstimated vertical position of the terrain relative to the nav filter zero datum\nRIRange finder innovations\nrngMeasured range\nHerrFilter ground offset state error\neAngMagnitude of angular error\neVelMagnitude of velocity error\nePosMagnitude of position error\n\nNKQ\nEKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nQ1Quaternion a term\nQ2Quaternion b term\nQ3Quaternion c term\nQ4Quaternion d term\n\nNKT\nEKF2 timing information\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nCntcount of samples used to create this message\nIMUMinsmallest IMU sample interval\nIMUMaxlargest IMU sample interval\nEKFMinlow-passed achieved average time step rate for the EKF (minimum)\nEKFMaxlow-passed achieved average time step rate for the EKF (maximum)\nAngMinaccumulated measurement time interval for the delta angle (minimum)\nAngMaxaccumulated measurement time interval for the delta angle (maximum)\nVMinaccumulated measurement time interval for the delta velocity (minimum)\nVMaxaccumulated measurement time interval for the delta velocity (maximum)\n\nNKY0\nEKF Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nYCGSF yaw estimate (rad)\nYCSGSF yaw estimate 1-Sigma uncertainty (rad)\nY0Yaw estimate from individual EKF filter 0 (rad)\nY1Yaw estimate from individual EKF filter 1 (rad)\nY2Yaw estimate from individual EKF filter 2 (rad)\nY3Yaw estimate from individual EKF filter 3 (rad)\nY4Yaw estimate from individual EKF filter 4 (rad)\nW0Weighting applied to yaw estimate from individual EKF filter 0\nW1Weighting applied to yaw estimate from individual EKF filter 1\nW2Weighting applied to yaw estimate from individual EKF filter 2\nW3Weighting applied to yaw estimate from individual EKF filter 3\nW4Weighting applied to yaw estimate from individual EKF filter 4\n\nNKY1\nEKF Yaw Estimator Innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nIVN0North velocity innovation from individual EKF filter 0 (m/s)\nIVN1North velocity innovation from individual EKF filter 1 (m/s)\nIVN2North velocity innovation from individual EKF filter 2 (m/s)\nIVN3North velocity innovation from individual EKF filter 3 (m/s)\nIVN4North velocity innovation from individual EKF filter 4 (m/s)\nIVE0East velocity innovation from individual EKF filter 0 (m/s)\nIVE1East velocity innovation from individual EKF filter 1 (m/s)\nIVE2East velocity innovation from individual EKF filter 2 (m/s)\nIVE3East velocity innovation from individual EKF filter 3 (m/s)\nIVE4East velocity innovation from individual EKF filter 4 (m/s)\n\nOABR\nObject avoidance (Bendy Ruler) diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nTypeType of BendyRuler currently active\nActTrue if Bendy Ruler avoidance is being used\nDYawBest yaw chosen to avoid obstacle\nYawCurrent vehicle yaw\nDPDesired pitch chosen to avoid obstacle\nRChgTrue if BendyRuler resisted changing bearing and continued in last calculated bearing\nMarMargin from path to obstacle on best yaw chosen\nDLtDestination latitude\nDLgDestination longitude\nDAltDesired alt above EKF Origin\nOLtIntermediate location chosen for avoidance\nOLgIntermediate location chosen for avoidance\nOAltIntermediate alt chosen for avoidance above EKF origin\n\nOADJ\nObject avoidance (Dijkstra) diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nStateDijkstra avoidance library state\nErrDijkstra library error condition\nCurrPointDestination point in calculated path to destination\nTotPointsNumber of points in path to destination\nDLatDestination latitude\nDLngDestination longitude\nOALatObject Avoidance chosen destination point latitude\nOALngObject Avoidance chosen destination point longitude\n\nOF\nOptical flow sensor data\nFieldNameDescription\nTimeUSTime since system startup\nQualEstimated sensor data quality\nflowXSensor flow rate, X-axis\nflowYSensor flow rate,Y-axis\nbodyXderived velocity, X-axis\nbodyYderived velocity, Y-axis\n\nORGN\nVehicle navigation origin or other notable position\nFieldNameDescription\nTimeUSTime since system startup\nTypePosition type\nLatPosition latitude\nLngPosition longitude\nAltPosition altitude\n\nPARM\nparameter value\nFieldNameDescription\nTimeUSTime since system startup\nNameparameter name\nValueparameter value\n\nPIDA\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDP\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDR\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDS\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDY\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPL\nPrecision Landing messages\nFieldNameDescription\nTimeUSTime since system startup\nHealTrue if Precision Landing is healthy\nTAcqTrue if landing target is detected\npXTarget position relative to vehicle, X-Axis (0 if target not found)\npYTarget position relative to vehicle, Y-Axis (0 if target not found)\nvXTarget velocity relative to vehicle, X-Axis (0 if target not found)\nvYTarget velocity relative to vehicle, Y-Axis (0 if target not found)\nmXTarget's relative to origin position as 3-D Vector, X-Axis\nmYTarget's relative to origin position as 3-D Vector, Y-Axis\nmZTarget's relative to origin position as 3-D Vector, Z-Axis\nLastMeasMSTime when target was last detected\nEKFOutlEKF's outlier count\nEstType of estimator used\n\nPM\nautopilot system performance and general data dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nNLonNumber of long loops detected\nNLoopNumber of measurement loops for this message\nMaxTMaximum loop time\nMemFree memory available\nLoadSystem processor load\nIntEInternal error mask; which internal errors have been detected\nErrLInternal error line number; last line number on which a internal error was detected\nErrCInternal error count; how many internal errors have been detected\nSPICNumber of SPI transactions processed\nI2CCNumber of i2c transactions processed\nI2CINumber of i2c interrupts serviced\nExnumber of microseconds being added to each loop to address scheduler overruns\n\nPOS\nCanonical vehicle position\nFieldNameDescription\nTimeUSTime since system startup\nLatCanonical vehicle latitude\nLngCanonical vehicle longitude\nAltCanonical vehicle altitude\nRelHomeAltCanonical vehicle altitude relative to home\nRelOriginAltCanonical vehicle altitude relative to navigation origin\n\nPOWR\nSystem power information\nFieldNameDescription\nTimeUSTime since system startup\nVccFlight board voltage\nVServoServo rail voltage\nFlagsSystem power flags\nAccFlagsAccumulated System power flags; all flags which have ever been set\nSafetyHardware Safety Switch status\n\nPRTN\nPlane Parameter Tuning data\nFieldNameDescription\nTimeUSTime since system startup\nSetParameter set being tuned\nParmParameter being tuned\nValueCurrent parameter value\nCenterValueCenter value (startpoint of current modifications) of parameter being tuned\n\nPRX\nProximity Filtered sensor data\nFieldNameDescription\nTimeUSTime since system startup\nLayerPitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.\nHeTrue if proximity sensor is healthy\nD0Nearest object in sector surrounding 0-degrees\nD45Nearest object in sector surrounding 45-degrees\nD90Nearest object in sector surrounding 90-degrees\nD135Nearest object in sector surrounding 135-degrees\nD180Nearest object in sector surrounding 180-degrees\nD225Nearest object in sector surrounding 225-degrees\nD270Nearest object in sector surrounding 270-degrees\nD315Nearest object in sector surrounding 315-degrees\nDUpNearest object in upwards direction\nCAnAngle to closest object\nCDisDistance to closest object\n\nPRXR\nProximity Raw sensor data\nFieldNameDescription\nTimeUSTime since system startup\nLayerPitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.\nD0Nearest object in sector surrounding 0-degrees\nD45Nearest object in sector surrounding 45-degrees\nD90Nearest object in sector surrounding 90-degrees\nD135Nearest object in sector surrounding 135-degrees\nD180Nearest object in sector surrounding 180-degrees\nD225Nearest object in sector surrounding 225-degrees\nD270Nearest object in sector surrounding 270-degrees\nD315Nearest object in sector surrounding 315-degrees\n\nPSCD\nPosition Control Down\nFieldNameDescription\nTimeUSTime since system startup\nTPDTarget position relative to EKF origin\nPDPosition relative to EKF origin\nDVDDesired velocity Down\nTVDTarget velocity Down\nVDVelocity Down\nDADDesired acceleration Down\nTADTarget acceleration Down\nADAcceleration Down\n\nPSCE\nPosition Control East\nFieldNameDescription\nTimeUSTime since system startup\nTPETarget position relative to EKF origin\nPEPosition relative to EKF origin\nDVEDesired velocity East\nTVETarget velocity East\nVEVelocity East\nDAEDesired acceleration East\nTAETarget acceleration East\nAEAcceleration East\n\nPSCN\nPosition Control North\nFieldNameDescription\nTimeUSTime since system startup\nTPNTarget position relative to EKF origin\nPNPosition relative to EKF origin\nDVNDesired velocity North\nTVNTarget velocity North\nVNVelocity North\nDANDesired acceleration North\nTANTarget acceleration North\nANAcceleration North\n\nRAD\nTelemetry radio statistics\nFieldNameDescription\nTimeUSTime since system startup\nRSSIRSSI\nRemRSSIRSSI reported from remote radio\nTxBufnumber of bytes in radio ready to be sent\nNoiselocal noise floor\nRemNoiselocal noise floor reported from remote radio\nRxErrorsdamaged packet count\nFixedfixed damaged packet count\n\nRALY\nRally point information\nFieldNameDescription\nTimeUSTime since system startup\nTottotal number of rally points onboard\nSeqthis rally point's sequence number\nLatlatitude of rally point\nLnglongitude of rally point\nAltaltitude of rally point\n\nRATE\nDesired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.\nFieldNameDescription\nTimeUSTime since system startup\nRDesvehicle desired roll rate\nRachieved vehicle roll rate\nROutnormalized output for Roll\nPDesvehicle desired pitch rate\nPvehicle pitch rate\nPOutnormalized output for Pitch\nYachieved vehicle yaw rate\nYOutnormalized output for Yaw\nYDesvehicle desired yaw rate\nADesdesired vehicle vertical acceleration\nAachieved vehicle vertical acceleration\nAOutpercentage of vertical thrust output current being used\n\nRBCH\nReplay Data Beacon Header\nFieldNameDescription\n\nRBCI\nReplay Data Beacon Instance\nFieldNameDescription\n\nRBOH\nReplay body odometry data\nFieldNameDescription\n\nRBRH\nReplay Data Barometer Header\nFieldNameDescription\n\nRBRI\nReplay Data Barometer Instance\nFieldNameDescription\n\nRCDA\nRaw RC data\nFieldNameDescription\nTimeUSTime since system startup\nTSdata arrival timestamp\nProtProtocol currently being decoded\nLenNumber of valid bytes in message\nU0first quartet of bytes\nU1second quartet of bytes\nU2third quartet of bytes\nU3fourth quartet of bytes\nU4fifth quartet of bytes\nU5sixth quartet of bytes\nU6seventh quartet of bytes\nU7eight quartet of bytes\nU8ninth quartet of bytes\nU9tenth quartet of bytes\n\nRCIN\nRC input channels to vehicle\nFieldNameDescription\nTimeUSTime since system startup\nC1channel 1 input\nC2channel 2 input\nC3channel 3 input\nC4channel 4 input\nC5channel 5 input\nC6channel 6 input\nC7channel 7 input\nC8channel 8 input\nC9channel 9 input\nC10channel 10 input\nC11channel 11 input\nC12channel 12 input\nC13channel 13 input\nC14channel 14 input\n\nRCOU\nServo channel output values\nFieldNameDescription\nTimeUSTime since system startup\nC1channel 1 output\nC2channel 2 output\nC3channel 3 output\nC4channel 4 output\nC5channel 5 output\nC6channel 6 output\nC7channel 7 output\nC8channel 8 output\nC9channel 9 output\nC10channel 10 output\nC11channel 11 output\nC12channel 12 output\nC13channel 13 output\nC14channel 14 output\n\nREPH\nReplay external position data\nFieldNameDescription\n\nREV2\nReplay Event\nFieldNameDescription\n\nREVH\nReplay external position data\nFieldNameDescription\n\nREY3\nReplay Euler Yaw event\nFieldNameDescription\n\nRFND\nRangefinder sensor information\nFieldNameDescription\nTimeUSTime since system startup\nInstancerangefinder instance number this data is from\nDistReported distance from sensor\nStatSensor state\nOrientSensor orientation\n\nRGPH\nReplay Data GPS Header\nFieldNameDescription\n\nRGPI\nReplay Data GPS Instance, infrequently changing data\nFieldNameDescription\n\nRGPJ\nReplay Data GPS Instance - rapidly changing data\nFieldNameDescription\n\nRMGH\nReplay Data Magnetometer Header\nFieldNameDescription\n\nRMGI\nReplay Data Magnetometer Instance\nFieldNameDescription\n\nROFH\nReplay optical flow data\nFieldNameDescription\n\nRPM\nData from RPM sensors\nFieldNameDescription\nTimeUSTime since system startup\nrpm1First sensor's data\nrpm2Second sensor's data\n\nRRNH\nReplay Data Rangefinder Header\nFieldNameDescription\n\nRRNI\nReplay Data Rangefinder Instance\nFieldNameDescription\n\nRSO2\nReplay Set Origin event\nFieldNameDescription\n\nRSSI\nReceived Signal Strength Indicator for RC receiver\nFieldNameDescription\nTimeUSTime since system startup\nRXRSSIRSSI\n\nRVOH\nReplay Data Visual Odometry data\nFieldNameDescription\n\nRWA2\nReplay set-default-airspeed event\nFieldNameDescription\n\nRWOH\nReplay wheel odometry data\nFieldNameDescription\n\nSA\nSimple Avoidance messages\nFieldNameDescription\nTimeUSTime since system startup\nStateTrue if Simple Avoidance is active\nDVelXDesired velocity, X-Axis (Velocity before Avoidance)\nDVelYDesired velocity, Y-Axis (Velocity before Avoidance)\nDVelZDesired velocity, Z-Axis (Velocity before Avoidance)\nMVelXModified velocity, X-Axis (Velocity after Avoidance)\nMVelYModified velocity, Y-Axis (Velocity after Avoidance)\nMVelZModified velocity, Z-Axis (Velocity after Avoidance)\nBackTrue if vehicle is backing away\n\nSBPH\nSwift Health Data\nFieldNameDescription\nTimeUSTime since system startup\nCrcErrorNumber of packet CRC errors on serial connection\nLastInjectTimestamp of last raw data injection to GPS\nIARhypCurrent number of integer ambiguity hypotheses\n\nSBRH\nSwift Raw Message Data\nFieldNameDescription\nTimeUSTime since system startup\nmsg_flagSwift message type\n1Sender ID\n2index; always 1\n3pages; number of pages received\n4msg length; number of bytes received\n5unused; always zero\n6data received from device\n\nSIM\nSITL simulator state\nFieldNameDescription\nTimeUSTime since system startup\nRollSimulated roll\nPitchSimulated pitch\nYawSimulated yaw\nAltSimulated altitude\nLatSimulated latitude\nLngSimulated longitude\nQ1Attitude quaternion component 1\nQ2Attitude quaternion component 2\nQ3Attitude quaternion component 3\nQ4Attitude quaternion component 4\n\nSIM2\nAdditional simulator state\nFieldNameDescription\nTimeUSTime since system startup\nPNNorth position from home\nPEEast position from home\nPDDown position from home\nVNVelocity north\nVEVelocity east\nVDVelocity down\n\nSITL\nSimulation data\nFieldNameDescription\nTimeUSTime since system startup\nVNVelocity - North component\nVEVelocity - East component\nVDVelocity - Down component\nANAcceleration - North component\nAEAcceleration - East component\nADAcceleration - Down component\nPNPosition - North component\nPEPosition - East component\nPDPosition - Down component\n\nSMOO\nSmoothed sensor data fed to EKF to avoid inconsistencies\nFieldNameDescription\nTimeUSTime since system startup\nAExAngular Velocity (around x-axis)\nAEyAngular Velocity (around y-axis)\nAEzAngular Velocity (around z-axis)\nDPxVelocity (along x-axis)\nDPyVelocity (along y-axis)\nDPzVelocity (along z-axis)\nRRoll\nPPitch\nYYaw\nR2DCM Roll\nP2DCM Pitch\nY2DCM Yaw\n\nSRTL\nSmartRTL statistics\nFieldNameDescription\nTimeUSTime since system startup\nActivetrue if SmartRTL could be used right now\nNumPtsnumber of points currently in use\nMaxPtsmaximum number of points that could be used\nActionmost recent internal action taken by SRTL library\nNpoint associated with most recent action (North component)\nEpoint associated with most recent action (East component)\nDpoint associated with most recent action (Down component)\n\nTERR\nTerrain database infomration\nFieldNameDescription\nTimeUSTime since system startup\nStatusTerrain database status\nLatCurrent vehicle latitude\nLngCurrent vehicle longitude\nSpacingterrain Tile spacing\nTerrHcurrent Terrain height\nCHeightVehicle height above terrain\nPendingNumber of tile requests outstanding\nLoadedNumber of tiles in memory\n\nTRIG\nCamera shutter information\nFieldNameDescription\nTimeUSTime since system startup\nGPSTimemilliseconds since start of GPS week\nGPSWeekweeks since 5 Jan 1980\nLatcurrent latitude\nLngcurrent longitude\nAltcurrent altitude\nRelAltcurrent altitude relative to home\nGPSAltaltitude as reported by GPS\nRollcurrent vehicle roll\nPitchcurrent vehicle pitch\nYawcurrent vehicle yaw\n\nTSYN\nTime synchronisation response information\nFieldNameDescription\nTimeUSTime since system startup\nSysIDsystem ID this data is for\nRTTround trip time for this system\n\nUBX1\nuBlox-specific GPS information (part 1)\nFieldNameDescription\nTimeUSTime since system startup\nInstanceGPS instance number\nnoisePerMSnoise level as measured by GPS\njamIndjamming indicator; higher is more likely jammed\naPowerantenna power indicator; 2 is don't know\nagcCntautomatic gain control monitor\nconfigbitmask for messages which haven't been seen\n\nUBX2\nuBlox-specific GPS information (part 2)\nFieldNameDescription\nTimeUSTime since system startup\nInstanceGPS instance number\nofsIimbalance of I part of complex signal\nmagImagnitude of I part of complex signal\nofsQimbalance of Q part of complex signal\nmagQmagnitude of Q part of complex signal\n\nUNIT\nMessage mapping from single character to SI unit\nFieldNameDescription\nTimeUSTime since system startup\nIdcharacter referenced by FMTU\nLabelUnit - SI where available\n\nVIBE\nProcessed (acceleration) vibration information\nFieldNameDescription\nTimeUSTime since system startup\nIMUVibration instance number\nVibeXPrimary accelerometer filtered vibration, x-axis\nVibeYPrimary accelerometer filtered vibration, y-axis\nVibeZPrimary accelerometer filtered vibration, z-axis\nClipNumber of clipping events on 1st accelerometer\n\nVISO\nVisual Odometry\nFieldNameDescription\nTimeUSSystem time\ndtTime period this data covers\nAngDXAngular change for body-frame roll axis\nAngDYAngular change for body-frame pitch axis\nAngDZAngular change for body-frame z axis\nPosDXPosition change for body-frame X axis (Forward-Back)\nPosDYPosition change for body-frame Y axis (Right-Left)\nPosDZPosition change for body-frame Z axis (Down-Up)\nconfConfidence\n\nVISP\nVision Position\nFieldNameDescription\nTimeUSSystem time\nRTimeUSRemote system time\nCTimeMSCorrected system time\nPXPosition X-axis (North-South)\nPYPosition Y-axis (East-West)\nPZPosition Z-axis (Down-Up)\nRollRoll lean angle\nPitchPitch lean angle\nYawYaw angle\nPErrPosition estimate error\nAErrAttitude estimate error\nRstPosition reset counter\nIgnIgnored\n\nVISV\nVision Velocity\nFieldNameDescription\nTimeUSSystem time\nRTimeUSRemote system time\nCTimeMSCorrected system time\nVXVelocity X-axis (North-South)\nVYVelocity Y-axis (East-West)\nVZVelocity Z-axis (Down-Up)\nVErrVelocity estimate error\nRstVelocity reset counter\nIgnIgnored\n\nWENC\nWheel encoder measurements\nFieldNameDescription\nTimeUSTime since system startup\nDist0First wheel distance travelled\nQual0Quality measurement of Dist0\nDist1Second wheel distance travelled\nQual1Quality measurement of Dist1\n\nWINC\nWinch\nFieldNameDescription\nTimeUSTime since system startup\nHealHealthy\nThEndReached end of thread\nMovMotor is moving\nClutClutch is engaged (motor can move freely)\nMode0 is Relaxed, 1 is Position Control, 2 is Rate Control\nDLenDesired Length\nLenEstimated Length\nDRateDesired Rate\nTensTension on line\nVccVoltage to Motor\nTempMotor temperature\n\nWIND\nWindvane readings\nFieldNameDescription\nTimeUSTime since system startup\nDrRawraw apparent wind direction direct from sensor, in body-frame\nDrAppApparent wind direction, in body-frame\nDrTruTrue wind direction\nSpdRawraw wind speed direct from sensor\nSpdAppApparent wind Speed\nSpdTruTrue wind speed\n\nXKF0\nEKF3 beacon sensor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIDBeacon sensor ID\nrngBeacon range\ninnovBeacon range innovation\nSIVsqrt of beacon range innovation variance\nTRBeacon range innovation consistency test ratio\nBPNBeacon north position\nBPEBeacon east position\nBPDBeacon down position\nOFHHigh estimate of vertical position offset of beacons rel to EKF origin\nOFLLow estimate of vertical position offset of beacons rel to EKF origin\nOFNNorth position of receiver rel to EKF origin\nOFEEast position of receiver rel to EKF origin\nOFDDown position of receiver rel to EKF origin\n\nXKF1\nEKF3 estimator outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nVNEstimated velocity (North component)\nVEEstimated velocity (East component)\nVDEstimated velocity (Down component)\ndPDFiltered derivative of vertical position (down)\nPNEstimated distance from origin (North component)\nPEEstimated distance from origin (East component)\nPDEstimated distance from origin (Down component)\nGXEstimated gyro bias, X axis\nGYEstimated gyro bias, Y axis\nGZEstimated gyro bias, Z axis\nOHHeight of origin above WGS-84\n\nXKF2\nEKF3 estimator secondary outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nAXEstimated accelerometer X bias\nAYEstimated accelerometer Y bias\nAZEstimated accelerometer Z bias\nVWNEstimated wind velocity (North component)\nVWEEstimated wind velocity (East component)\nMNMagnetic field strength (North component)\nMEMagnetic field strength (East component)\nMDMagnetic field strength (Down component)\nMXMagnetic field strength (body X-axis)\nMYMagnetic field strength (body Y-axis)\nMZMagnetic field strength (body Z-axis)\nIDXInnovation in vehicle drag acceleration (X-axis component)\nIDYInnovation in vehicle drag acceleration (Y-axis component)\nISInnovation in vehicle sideslip\n\nXKF3\nEKF3 innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIVNInnovation in velocity (North component)\nIVEInnovation in velocity (East component)\nIVDInnovation in velocity (Down component)\nIPNInnovation in position (North component)\nIPEInnovation in position (East component)\nIPDInnovation in position (Down component)\nIMXInnovation in magnetic field strength (X-axis component)\nIMYInnovation in magnetic field strength (Y-axis component)\nIMZInnovation in magnetic field strength (Z-axis component)\nIYAWInnovation in vehicle yaw\nIVTInnovation in true-airspeed\nRErrAccumulated relative error of this core with respect to active primary core\nErScA consolidated error score where higher numbers are less healthy\n\nXKF4\nEKF3 variances\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nSVSquare root of the velocity variance\nSPSquare root of the position variance\nSHSquare root of the height variance\nSMMagnetic field variance\nSVTSquare root of the total airspeed variance\nerrRPFiltered error in roll/pitch estimate\nOFNMost recent position reset (North component)\nOFEMost recent position reset (East component)\nFSFilter fault status\nTSFilter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)\nSSFilter solution status\nGPSFilter GPS status\nPIPrimary core index\n\nXKF5\nEKF3 Sensor innovations (primary core) and general dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nNINormalised flow variance\nFIXOptical flow LOS rate vector innovations from the main nav filter (X-axis)\nFIYOptical flow LOS rate vector innovations from the main nav filter (Y-axis)\nAFIOptical flow LOS rate innovation from terrain offset estimator\nHAGLHeight above ground level\noffsetEstimated vertical position of the terrain relative to the nav filter zero datum\nRIRange finder innovations\nrngMeasured range\nHerrFilter ground offset state error\neAngMagnitude of angular error\neVelMagnitude of velocity error\nePosMagnitude of position error\n\nXKFD\nEKF3 Body Frame Odometry errors\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIXInnovation in velocity (X-axis)\nIYInnovation in velocity (Y-axis)\nIZInnovation in velocity (Z-axis)\nIVXVariance in velocity (X-axis)\nIVYVariance in velocity (Y-axis)\nIVZVariance in velocity (Z-axis)\n\nXKFM\nEKF3 diagnostic data for on-ground-and-not-moving check\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nOGNMTrue of on ground and not moving\nGLRGyroscope length ratio\nALRAccelerometer length ratio\nGDRGyroscope rate of change ratio\nADRAccelerometer rate of change ratio\n\nXKFS\nEKF3 sensor selection\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nMIcompass selection index\nBIbarometer selection index\nGIGPS selection index\nAIairspeed selection index\n\nXKQ\nEKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nQ1Quaternion a term\nQ2Quaternion b term\nQ3Quaternion c term\nQ4Quaternion d term\n\nXKT\nEKF3 timing information\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nCntcount of samples used to create this message\nIMUMinsmallest IMU sample interval\nIMUMaxlargest IMU sample interval\nEKFMinlow-passed achieved average time step rate for the EKF (minimum)\nEKFMaxlow-passed achieved average time step rate for the EKF (maximum)\nAngMinaccumulated measurement time interval for the delta angle (minimum)\nAngMaxaccumulated measurement time interval for the delta angle (maximum)\nVMinaccumulated measurement time interval for the delta velocity (minimum)\nVMaxaccumulated measurement time interval for the delta velocity (maximum)\n\nXKTV\nEKF3 Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nTVSTilt Error Variance from symbolic equations (rad^2)\nTVDTilt Error Variance from difference method (rad^2)\n\nXKV1\nEKF3 State variances (primary core)\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nV00Variance for state 0\nV01Variance for state 1\nV02Variance for state 2\nV03Variance for state 3\nV04Variance for state 4\nV05Variance for state 5\nV06Variance for state 6\nV07Variance for state 7\nV08Variance for state 8\nV09Variance for state 9\nV10Variance for state 10\nV11Variance for state 11\n\nXKV2\nmore EKF3 State Variances (primary core)\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nV12Variance for state 12\nV13Variance for state 13\nV14Variance for state 14\nV15Variance for state 15\nV16Variance for state 16\nV17Variance for state 17\nV18Variance for state 18\nV19Variance for state 19\nV20Variance for state 20\nV21Variance for state 21\nV22Variance for state 22\nV23Variance for state 23\n\nXKY0\nEKF Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nYCGSF yaw estimate (rad)\nYCSGSF yaw estimate 1-Sigma uncertainty (rad)\nY0Yaw estimate from individual EKF filter 0 (rad)\nY1Yaw estimate from individual EKF filter 1 (rad)\nY2Yaw estimate from individual EKF filter 2 (rad)\nY3Yaw estimate from individual EKF filter 3 (rad)\nY4Yaw estimate from individual EKF filter 4 (rad)\nW0Weighting applied to yaw estimate from individual EKF filter 0\nW1Weighting applied to yaw estimate from individual EKF filter 1\nW2Weighting applied to yaw estimate from individual EKF filter 2\nW3Weighting applied to yaw estimate from individual EKF filter 3\nW4Weighting applied to yaw estimate from individual EKF filter 4\n\nXKY1\nEKF Yaw Estimator Innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nIVN0North velocity innovation from individual EKF filter 0 (m/s)\nIVN1North velocity innovation from individual EKF filter 1 (m/s)\nIVN2North velocity innovation from individual EKF filter 2 (m/s)\nIVN3North velocity innovation from individual EKF filter 3 (m/s)\nIVN4North velocity innovation from individual EKF filter 4 (m/s)\nIVE0East velocity innovation from individual EKF filter 0 (m/s)\nIVE1East velocity innovation from individual EKF filter 1 (m/s)\nIVE2East velocity innovation from individual EKF filter 2 (m/s)\nIVE3East velocity innovation from individual EKF filter 3 (m/s)\nIVE4East velocity innovation from individual EKF filter 4 (m/s)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/","path":"/software/autopilot/ArduSub-4.1/developers/log-messages/","title":"Onboard Log Messages"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/":{"body":"The MAVLink protocol supports a variety of features and functionalities, but not all messages or commands are implemented by the ArduPilot ecosystem, or relevant to a particular autopilot firmware.\nThis page is auto-generated from analysing the ArduSub source code, and provides an indication of which messages (and commands) are handled by, requestable from, and sent from the firmware. A message being handled does not guarantee full support, but at least shows that the autopilot is aware it exists, and will try to do something meaningful with it.\nKnown unsupported messages (and commands) are shown at the end.\nThe autopilot includes a set of stream groups for convenience, which allow configuring the stream rates of groups of requestable messages by setting parameter values. It is also possible to manually request messages, and request individual messages be streamed at a specified rate.\nIncoming Messages\nMessages the autopilot handles when received.\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEAP_ADSB/AP_ADSB.cppcommon\nATT_POS_MOCAPGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSION_REQUESTGCS_MAVLink/GCS_Common.cppardupilotmega\nCOMMAND_ACKGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_INTGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_LONGAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nDATA96GCS_MAVLink/GCS_Common.cppardupilotmega\nDEVICE_OP_READGCS_MAVLink/GCS_Common.cppardupilotmega\nDEVICE_OP_WRITEGCS_MAVLink/GCS_Common.cppardupilotmega\nDIGICAM_CONTROLAP_Camera/AP_Camera.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nFENCE_FETCH_POINTAC_Fence/AC_PolyFence_loader.cppardupilotmega\nFENCE_POINTAC_Fence/AC_PolyFence_loader.cppardupilotmega\nFILE_TRANSFER_PROTOCOLGCS_MAVLink/GCS_Common.cppcommon\nGIMBAL_REPORTAP_Mount/AP_Mount.cppardupilotmega\nGLOBAL_POSITION_INTAP_Mount/AP_Mount.cppcommon\nGLOBAL_VISION_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nGOPRO_HEARTBEATAP_Camera/AP_Camera.cppardupilotmega\nGPS_INJECT_DATAAP_GPS/AP_GPS.cppcommon\nGPS_INPUTAP_GPS/AP_GPS_MAV.cppcommon\nGPS_RTCM_DATAAP_GPS/AP_GPS.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHIL_GPSAP_GPS/AP_GPS_MAV.cppcommon\nLANDING_TARGETGCS_MAVLink/GCS_Common.cppcommon\nLED_CONTROLGCS_MAVLink/GCS_Common.cppardupilotmega\nLOG_ERASEAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_DATAAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_ENDAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_LISTAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nMANUAL_CONTROLArduSub/GCS_Mavlink.cppcommon\nMISSION_ACKGCS_MAVLink/GCS_Common.cppcommon\nMISSION_CLEAR_ALLGCS_MAVLink/GCS_Common.cppcommon\nMISSION_COUNTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEMGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_INTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUESTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUEST_INTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUEST_LISTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_SET_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_WRITE_PARTIAL_LISTGCS_MAVLink/GCS_Common.cppcommon\nMOUNT_CONFIGUREAP_Mount/AP_Mount.cppardupilotmega\nMOUNT_CONTROLAP_Mount/AP_Mount.cppardupilotmega\nOBSTACLE_DISTANCEGCS_MAVLink/GCS_Common.cppcommon\nOBSTACLE_DISTANCE_3DGCS_MAVLink/GCS_Common.cppardupilotmega\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nOSD_PARAM_CONFIGAP_OSD/AP_OSD.cppardupilotmega\nOSD_PARAM_SHOW_CONFIGAP_OSD/AP_OSD.cppardupilotmega\nPARAM_REQUEST_LISTGCS_MAVLink/GCS_Common.cppcommon\nPARAM_REQUEST_READAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nPARAM_SETAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Common.cppcommon\nPLAY_TUNEGCS_MAVLink/GCS_Common.cppcommon\nRALLY_FETCH_POINTGCS_MAVLink/GCS_Common.cppardupilotmega\nRALLY_POINTGCS_MAVLink/GCS_Common.cppardupilotmega\nRC_CHANNELS_OVERRIDEGCS_MAVLink/GCS_Common.cppcommon\nREMOTE_LOG_BLOCK_STATUSAP_Logger/AP_Logger.cppardupilotmega\nREQUEST_DATA_STREAMGCS_MAVLink/GCS_Common.cppcommon\nSERIAL_CONTROLGCS_MAVLink/GCS_Common.cppcommon\nSETUP_SIGNINGGCS_MAVLink/GCS_Common.cppcommon\nSET_ATTITUDE_TARGETArduSub/GCS_Mavlink.cppcommon\nSET_GPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nSET_HOME_POSITIONArduSub/GCS_Mavlink.cppcommon\nSET_MODEGCS_MAVLink/GCS_Common.cppcommon\nSET_POSITION_TARGET_GLOBAL_INTArduSub/GCS_Mavlink.cppcommon\nSET_POSITION_TARGET_LOCAL_NEDArduSub/GCS_Mavlink.cppcommon\nSTATUSTEXTGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSArduSub/GCS_Mavlink.cppcommon\nTERRAIN_CHECKArduSub/GCS_Mavlink.cppcommon\nTERRAIN_DATAArduSub/GCS_Mavlink.cppcommon\nTIMESYNCGCS_MAVLink/GCS_Common.cppcommon\nUAVIONIX_ADSB_OUT_CFGAP_ADSB/AP_ADSB.cppuAvionix\nUAVIONIX_ADSB_OUT_DYNAMICAP_ADSB/AP_ADSB.cppuAvionix\nUAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORTAP_ADSB/AP_ADSB.cppuAvionix\nVICON_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nVISION_POSITION_DELTAGCS_MAVLink/GCS_Common.cppardupilotmega\nVISION_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nVISION_SPEED_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\n\nIncoming Commands\nCommands the autopilot handles when received.\nMAVLink MessageCode SourceMAVLink Dialect\nMAV_CMD_ACCELCAL_VEHICLE_POSAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_BATTERY_RESETAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_COMPONENT_ARM_DISARMAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_CONDITION_DELAYArduSub/commands_logic.cppcommon\nMAV_CMD_CONDITION_DISTANCEArduSub/commands_logic.cppcommon\nMAV_CMD_CONDITION_YAWArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DEBUG_TRAPGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_DO_ACCEPT_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_AUTOTUNE_ENABLEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_AUX_FUNCTIONAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_CANCEL_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_CHANGE_SPEEDArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DO_CONTROL_VIDEOArduSub/commands_logic.cppcommon\nMAV_CMD_DO_DIGICAM_CONFIGUREAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_DIGICAM_CONTROLAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_ENGINE_CONTROLAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_FENCE_ENABLEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_FLIGHTTERMINATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_GO_AROUNDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_GRIPPERAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_GUIDED_LIMITSArduSub/commands_logic.cppcommon\nMAV_CMD_DO_INVERTED_FLIGHTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_JUMPAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_LAND_STARTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_MOTOR_TESTArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DO_MOUNT_CONFIGUREAP_Mount/AP_Mount.cppcommon\nMAV_CMD_DO_MOUNT_CONTROLArduSub/commands_logic.cppcommon\nMAV_CMD_DO_PARACHUTEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_REPEAT_RELAYAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_REPEAT_SERVOAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SEND_BANNERGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_DO_SEND_SCRIPT_MESSAGEAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_SET_CAM_TRIGG_DISTArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_HOMEArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_MISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMAV_CMD_DO_SET_MODEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_SET_RELAYAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SET_RESUME_REPEAT_DISTAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_SET_REVERSEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_SET_ROIArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_ROI_LOCATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_SET_ROI_SYSIDAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_SET_SERVOAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SPRAYERAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_START_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_VTOL_TRANSITIONAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_WINCHAP_Mission/AP_Mission.cppcommon\nMAV_CMD_FIXED_MAG_CAL_YAWAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_FLASH_BOOTLOADERAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_GET_HOME_POSITIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_GET_MESSAGE_INTERVALAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_MISSION_STARTArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_ALTITUDE_WAITAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_NAV_CONTINUE_AND_CHANGE_ALTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_DELAYArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_FENCE_CIRCLE_EXCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_CIRCLE_INCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_RETURN_POINTGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_GUIDED_ENABLEArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LANDArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_LOITER_TIMEArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LOITER_TO_ALTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_LOITER_TURNSArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LOITER_UNLIMArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_PAYLOAD_PLACEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_RETURN_TO_LAUNCHArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_SET_YAW_SPEEDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_SPLINE_WAYPOINTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_TAKEOFFAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_TAKEOFF_LOCALAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_VTOL_LANDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_VTOL_TAKEOFFAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_WAYPOINTArduSub/commands_logic.cppcommon\nMAV_CMD_PREFLIGHT_CALIBRATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_REBOOT_SHUTDOWNAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETSAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_STORAGEAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_UAVCANAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_REQUEST_AUTOPILOT_CAPABILITIESAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_REQUEST_MESSAGEAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_RUN_PREARM_CHECKSGCS_MAVLink/GCS_Common.cppcommon\nMAV_CMD_SCRIPTINGGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_SET_MESSAGE_INTERVALAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_START_RX_PAIRAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\n\nRequestable Messages\nMessages that can be requested/streamed from the autopilot.\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEGCS_MAVLink/GCS_Common.cppcommon\nAHRSGCS_MAVLink/GCS_Common.cppardupilotmega\nAHRS2GCS_MAVLink/GCS_Common.cppardupilotmega\nAOA_SSAGCS_MAVLink/GCS_Common.cppardupilotmega\nATTITUDEGCS_MAVLink/GCS_Common.cppcommon\nATTITUDE_QUATERNIONGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSIONGCS_MAVLink/GCS_Common.cppcommon\nBATTERY2GCS_MAVLink/GCS_Common.cppardupilotmega\nBATTERY_STATUSGCS_MAVLink/GCS_Common.cppcommon\nCAMERA_FEEDBACKGCS_MAVLink/GCS_Common.cppardupilotmega\nDEEPSTALLGCS_MAVLink/GCS_Common.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nEFI_STATUSGCS_MAVLink/GCS_Common.cppcommon\nEKF_STATUS_REPORTGCS_MAVLink/GCS_Common.cppardupilotmega\nESC_TELEMETRY_1_TO_4GCS_MAVLink/GCS_Common.cppardupilotmega\nEXTENDED_SYS_STATEGCS_MAVLink/GCS_Common.cppcommon\nFENCE_STATUSGCS_MAVLink/GCS_Common.cppcommon\nGENERATOR_STATUSGCS_MAVLink/GCS_Common.cppcommon\nGIMBAL_REPORTGCS_MAVLink/GCS_Common.cppardupilotmega\nGLOBAL_POSITION_INTGCS_MAVLink/GCS_Common.cppcommon\nGPS2_RAWGCS_MAVLink/GCS_Common.cppcommon\nGPS2_RTKGCS_MAVLink/GCS_Common.cppcommon\nGPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nGPS_RAW_INTGCS_MAVLink/GCS_Common.cppcommon\nGPS_RTKGCS_MAVLink/GCS_Common.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHOME_POSITIONGCS_MAVLink/GCS_Common.cppcommon\nHWSTATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nLOCAL_POSITION_NEDGCS_MAVLink/GCS_Common.cppcommon\nMAG_CAL_PROGRESSGCS_MAVLink/GCS_Common.cppardupilotmega\nMAG_CAL_REPORTGCS_MAVLink/GCS_Common.cppcommon\nMEMINFOGCS_MAVLink/GCS_Common.cppardupilotmega\nMISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_REACHEDGCS_MAVLink/GCS_Common.cppcommon\nMOUNT_STATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nNAV_CONTROLLER_OUTPUTGCS_MAVLink/GCS_Common.cppcommon\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Common.cppcommon\nPID_TUNINGGCS_MAVLink/GCS_Common.cppardupilotmega\nPOSITION_TARGET_GLOBAL_INTGCS_MAVLink/GCS_Common.cppcommon\nPOSITION_TARGET_LOCAL_NEDGCS_MAVLink/GCS_Common.cppcommon\nPOWER_STATUSGCS_MAVLink/GCS_Common.cppcommon\nRANGEFINDERGCS_MAVLink/GCS_Common.cppardupilotmega\nRAW_IMUGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELSGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_RAWGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_SCALEDGCS_MAVLink/GCS_Common.cppcommon\nRPMGCS_MAVLink/GCS_Common.cppardupilotmega\nSCALED_IMUGCS_MAVLink/GCS_Common.cppcommon\nSCALED_IMU2GCS_MAVLink/GCS_Common.cppcommon\nSCALED_IMU3GCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSUREGCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSURE2GCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSURE3GCS_MAVLink/GCS_Common.cppcommon\nSENSOR_OFFSETSGCS_MAVLink/GCS_Common.cppardupilotmega\nSERVO_OUTPUT_RAWGCS_MAVLink/GCS_Common.cppcommon\nSIMSTATEGCS_MAVLink/GCS_Common.cppardupilotmega\nSIM_STATEGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSGCS_MAVLink/GCS_Common.cppcommon\nTERRAIN_REQUESTGCS_MAVLink/GCS_Common.cppcommon\nVFR_HUDGCS_MAVLink/GCS_Common.cppcommon\nVIBRATIONGCS_MAVLink/GCS_Common.cppcommon\nWATER_DEPTHGCS_MAVLink/GCS_Common.cppardupilotmega\nWINCH_STATUSGCS_MAVLink/GCS_Common.cppcommon\nWINDGCS_MAVLink/GCS_Common.cppardupilotmega\n\nOutgoing Messages\nMessages the autopilot will send automatically (unrequested).\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEAP_ADSB/AP_ADSB.cppcommon\nAHRSGCS_MAVLink/GCS_Common.cppardupilotmega\nAHRS2GCS_MAVLink/GCS_Common.cppardupilotmega\nAP_ADCAP_HAL_ChibiOS/AnalogIn.cppardupilotmega\nATTITUDEGCS_MAVLink/GCS_Common.cppcommon\nATTITUDE_QUATERNIONGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSIONGCS_MAVLink/GCS_Common.cppcommon\nBATTERY2GCS_MAVLink/GCS_Common.cppardupilotmega\nBATTERY_STATUSGCS_MAVLink/GCS_Common.cppcommon\nCAMERA_FEEDBACKAP_Camera/AP_Camera.cppardupilotmega\nCOMMAND_ACKGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_LONGAP_Mount/AP_Mount_SToRM32.cppcommon\nDATA16AP_Radio/AP_Radio_cc2500.cppardupilotmega\nDEEPSTALLAP_Landing/AP_Landing_Deepstall.cppardupilotmega\nDEVICE_OP_READ_REPLYGCS_MAVLink/GCS_DeviceOp.cppardupilotmega\nDEVICE_OP_WRITE_REPLYGCS_MAVLink/GCS_DeviceOp.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nEFI_STATUSAP_EFI/AP_EFI.cppcommon\nEKF_STATUS_REPORTAP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cppardupilotmega\nESC_TELEMETRY_1_TO_4AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nESC_TELEMETRY_5_TO_8AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nESC_TELEMETRY_9_TO_12AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nEXTENDED_SYS_STATEGCS_MAVLink/GCS_Common.cppcommon\nFENCE_STATUSGCS_MAVLink/GCS_Fence.cppcommon\nFILE_TRANSFER_PROTOCOLGCS_MAVLink/GCS_FTP.cppcommon\nGENERATOR_STATUSAP_Generator/AP_Generator_RichenPower.cppcommon\nGIMBAL_CONTROLAP_Mount/SoloGimbal.cppardupilotmega\nGLOBAL_POSITION_INTGCS_MAVLink/GCS_Common.cppcommon\nGOPRO_SET_REQUESTAP_Camera/AP_Camera_SoloGimbal.cppardupilotmega\nGPS2_RAWAP_GPS/AP_GPS.cppcommon\nGPS2_RTKAP_GPS/GPS_Backend.cppcommon\nGPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nGPS_RAW_INTAP_GPS/AP_GPS.cppcommon\nGPS_RTKAP_GPS/GPS_Backend.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHOME_POSITIONGCS_MAVLink/GCS_Common.cppcommon\nHWSTATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nLOCAL_POSITION_NEDGCS_MAVLink/GCS_Common.cppcommon\nLOG_ENTRYAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nMAG_CAL_PROGRESSAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAG_CAL_REPORTAP_Compass/AP_Compass_Calibration.cppcommon\nMEMINFOGCS_MAVLink/GCS_Common.cppardupilotmega\nMESSAGE_INTERVALGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ACKGCS_MAVLink/GCS_Common.cppcommon\nMISSION_COUNTGCS_MAVLink/MissionItemProtocol_Waypoints.cppcommon\nMISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_REACHEDGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUESTGCS_MAVLink/MissionItemProtocol.cppcommon\nMOUNT_STATUSAP_Mount/AP_Mount_Alexmos.cppardupilotmega\nNAMED_VALUE_FLOATGCS_MAVLink/GCS_Common.cppcommon\nNAV_CONTROLLER_OUTPUTArduSub/GCS_Mavlink.cppcommon\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nOSD_PARAM_CONFIG_REPLYAP_OSD/AP_OSD.cppardupilotmega\nOSD_PARAM_SHOW_CONFIG_REPLYAP_OSD/AP_OSD.cppardupilotmega\nPARAM_REQUEST_LISTAP_Mount/SoloGimbal_Parameters.cppcommon\nPARAM_SETAP_Mount/SoloGimbal_Parameters.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Param.cppcommon\nPID_TUNINGArduSub/GCS_Mavlink.cppardupilotmega\nPOWER_STATUSGCS_MAVLink/GCS_Common.cppcommon\nRALLY_POINTGCS_MAVLink/GCS_Rally.cppardupilotmega\nRANGEFINDERGCS_MAVLink/GCS_Common.cppardupilotmega\nRAW_IMUGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELSGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_RAWGCS_MAVLink/GCS_Common.cppcommon\nRPMGCS_MAVLink/GCS_Common.cppardupilotmega\nSCALED_PRESSURE3ArduSub/GCS_Mavlink.cppcommon\nSENSOR_OFFSETSGCS_MAVLink/GCS_Common.cppardupilotmega\nSERVO_OUTPUT_RAWGCS_MAVLink/GCS_Common.cppcommon\nSET_POSITION_TARGET_GLOBAL_INTGCS_MAVLink/GCS_Common.cppcommon\nSTATUSTEXTGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSGCS_MAVLink/GCS_Common.cppcommon\nTERRAIN_REPORTAP_Terrain/TerrainGCS.cppcommon\nTERRAIN_REQUESTAP_Terrain/TerrainGCS.cppcommon\nTIMESYNCGCS_MAVLink/GCS_Common.cppcommon\nUAVIONIX_ADSB_OUT_CFGAP_ADSB/AP_ADSB_uAvionix_MAVLink.cppuAvionix\nUAVIONIX_ADSB_OUT_DYNAMICAP_ADSB/AP_ADSB_uAvionix_MAVLink.cppuAvionix\nVFR_HUDGCS_MAVLink/GCS_Common.cppcommon\nVIBRATIONGCS_MAVLink/GCS_Common.cppcommon\nWATER_DEPTHGCS_MAVLink/GCS_Common.cppardupilotmega\nWINCH_STATUSAP_Winch/AP_Winch_Daiwa.cppcommon\nWINDAP_WindVane/AP_WindVane.cppardupilotmega\n\nNamed Floats\nBreakout of named floating-point (numerical) values sent by the autopilot.\nMAVLink MessageCode SourceMAVLink Dialect\nNAMED_VALUE_FLOAT:CamPanArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:CamTiltArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:InputHoldArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:Lights1ArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:Lights2ArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:PilotGainArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:RollPitchArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:TetherTrnArduSub/GCS_Mavlink.cppcommon\n\nStream Groups\nMessage groups with stream rates requestable by SRn_* parameters. Messages in a group are only sent if the corresponding feature is active.\nMAVLink MessageStream Group ParameterMAVLink Dialect\nRAW_IMUSRn_RAW_SENSORScommon\nSCALED_IMU2SRn_RAW_SENSORScommon\nSCALED_IMU3SRn_RAW_SENSORScommon\nSCALED_PRESSURESRn_RAW_SENSORScommon\nSCALED_PRESSURE2SRn_RAW_SENSORScommon\nSCALED_PRESSURE3SRn_RAW_SENSORScommon\nSENSOR_OFFSETSSRn_RAW_SENSORSardupilotmega\nFENCE_STATUSSRn_EXTENDED_STATUScommon\nGPS2_RAWSRn_EXTENDED_STATUScommon\nGPS2_RTKSRn_EXTENDED_STATUScommon\nGPS_RAW_INTSRn_EXTENDED_STATUScommon\nGPS_RTKSRn_EXTENDED_STATUScommon\nMEMINFOSRn_EXTENDED_STATUSardupilotmega\nMISSION_CURRENTSRn_EXTENDED_STATUScommon\nNAMED_VALUE_FLOATSRn_EXTENDED_STATUScommon\nNAV_CONTROLLER_OUTPUTSRn_EXTENDED_STATUScommon\nPOWER_STATUSSRn_EXTENDED_STATUScommon\nSYS_STATUSSRn_EXTENDED_STATUScommon\nGLOBAL_POSITION_INTSRn_POSITIONcommon\nLOCAL_POSITION_NEDSRn_POSITIONcommon\nRC_CHANNELSSRn_RC_CHANNELScommon\nRC_CHANNELS_RAWSRn_RC_CHANNELScommon\nSERVO_OUTPUT_RAWSRn_RC_CHANNELScommon\nAHRS2SRn_EXTRA1ardupilotmega\nATTITUDESRn_EXTRA1common\nPID_TUNINGSRn_EXTRA1ardupilotmega\nSIMSTATESRn_EXTRA1ardupilotmega\nVFR_HUDSRn_EXTRA2common\nAHRSSRn_EXTRA3ardupilotmega\nBATTERY2SRn_EXTRA3ardupilotmega\nBATTERY_STATUSSRn_EXTRA3common\nDISTANCE_SENSORSRn_EXTRA3common\nEKF_STATUS_REPORTSRn_EXTRA3ardupilotmega\nESC_TELEMETRY_1_TO_4SRn_EXTRA3ardupilotmega\nGIMBAL_REPORTSRn_EXTRA3ardupilotmega\nHWSTATUSSRn_EXTRA3ardupilotmega\nMAG_CAL_PROGRESSSRn_EXTRA3ardupilotmega\nMAG_CAL_REPORTSRn_EXTRA3common\nMOUNT_STATUSSRn_EXTRA3ardupilotmega\nOPTICAL_FLOWSRn_EXTRA3common\nRANGEFINDERSRn_EXTRA3ardupilotmega\nRPMSRn_EXTRA3ardupilotmega\nSYSTEM_TIMESRn_EXTRA3common\nTERRAIN_REQUESTSRn_EXTRA3common\nVIBRATIONSRn_EXTRA3common\nPARAM_VALUESRn_PARAMScommon\n\nMissing Messages\nUnsupported / unhandled messages.\nMAVLink MessageCode SourceMAVLink Dialect\nACTUATOR_CONTROL_TARGETUNSUPPORTEDcommon\nACTUATOR_OUTPUT_STATUSUNSUPPORTEDcommon\nADAP_TUNINGUNSUPPORTEDardupilotmega\nAHRS3UNSUPPORTEDardupilotmega\nAIRSPEED_AUTOCALUNSUPPORTEDardupilotmega\nAIS_VESSELUNSUPPORTEDcommon\nALTITUDEUNSUPPORTEDcommon\nATTITUDE_QUATERNION_COVUNSUPPORTEDcommon\nATTITUDE_TARGETUNSUPPORTEDcommon\nAUTH_KEYUNSUPPORTEDcommon\nAUTOPILOT_STATE_FOR_GIMBAL_DEVICEUNSUPPORTEDcommon\nBAD_DATAUNSUPPORTEDcommon\nBUTTON_CHANGEUNSUPPORTEDcommon\nCAMERA_CAPTURE_STATUSUNSUPPORTEDcommon\nCAMERA_IMAGE_CAPTUREDUNSUPPORTEDcommon\nCAMERA_INFORMATIONUNSUPPORTEDcommon\nCAMERA_SETTINGSUNSUPPORTEDcommon\nCAMERA_STATUSUNSUPPORTEDardupilotmega\nCAMERA_TRIGGERUNSUPPORTEDcommon\nCANFD_FRAMEUNSUPPORTEDcommon\nCAN_FILTER_MODIFYUNSUPPORTEDcommon\nCAN_FRAMEUNSUPPORTEDcommon\nCHANGE_OPERATOR_CONTROLUNSUPPORTEDcommon\nCHANGE_OPERATOR_CONTROL_ACKUNSUPPORTEDcommon\nCOLLISIONUNSUPPORTEDcommon\nCOMPASSMOT_STATUSUNSUPPORTEDardupilotmega\nCONTROL_SYSTEM_STATEUNSUPPORTEDcommon\nCUBEPILOT_FIRMWARE_UPDATE_RESPUNSUPPORTEDcubepilot\nCUBEPILOT_FIRMWARE_UPDATE_STARTUNSUPPORTEDcubepilot\nCUBEPILOT_RAW_RCUNSUPPORTEDcubepilot\nDATA32UNSUPPORTEDardupilotmega\nDATA64UNSUPPORTEDardupilotmega\nDATA_STREAMUNSUPPORTEDcommon\nDATA_TRANSMISSION_HANDSHAKEUNSUPPORTEDcommon\nDEBUGUNSUPPORTEDcommon\nDEBUG_FLOAT_ARRAYUNSUPPORTEDcommon\nDEBUG_VECTUNSUPPORTEDcommon\nDIGICAM_CONFIGUREUNSUPPORTEDardupilotmega\nENCAPSULATED_DATAUNSUPPORTEDcommon\nESC_TELEMETRY_13_TO_16UNSUPPORTEDardupilotmega\nESC_TELEMETRY_17_TO_20UNSUPPORTEDardupilotmega\nESC_TELEMETRY_21_TO_24UNSUPPORTEDardupilotmega\nESC_TELEMETRY_25_TO_28UNSUPPORTEDardupilotmega\nESC_TELEMETRY_29_TO_32UNSUPPORTEDardupilotmega\nESTIMATOR_STATUSUNSUPPORTEDcommon\nFLIGHT_INFORMATIONUNSUPPORTEDcommon\nFOLLOW_TARGETUNSUPPORTEDcommon\nGIMBAL_DEVICE_ATTITUDE_STATUSUNSUPPORTEDcommon\nGIMBAL_DEVICE_INFORMATIONUNSUPPORTEDcommon\nGIMBAL_DEVICE_SET_ATTITUDEUNSUPPORTEDcommon\nGIMBAL_TORQUE_CMD_REPORTUNSUPPORTEDardupilotmega\nGLOBAL_POSITION_INT_COVUNSUPPORTEDcommon\nGOPRO_GET_REQUESTUNSUPPORTEDardupilotmega\nGOPRO_GET_RESPONSEUNSUPPORTEDardupilotmega\nGOPRO_SET_RESPONSEUNSUPPORTEDardupilotmega\nGPS_STATUSUNSUPPORTEDcommon\nHERELINK_TELEMUNSUPPORTEDcubepilot\nHERELINK_VIDEO_STREAM_INFORMATIONUNSUPPORTEDcubepilot\nHIGHRES_IMUUNSUPPORTEDcommon\nHIGH_LATENCYUNSUPPORTEDcommon\nHIGH_LATENCY2UNSUPPORTEDcommon\nHIL_ACTUATOR_CONTROLSUNSUPPORTEDcommon\nHIL_CONTROLSUNSUPPORTEDcommon\nHIL_OPTICAL_FLOWUNSUPPORTEDcommon\nHIL_RC_INPUTS_RAWUNSUPPORTEDcommon\nHIL_SENSORUNSUPPORTEDcommon\nHIL_STATEUNSUPPORTEDcommon\nHIL_STATE_QUATERNIONUNSUPPORTEDcommon\nHYGROMETER_SENSORUNSUPPORTEDcommon\nICAROUS_HEARTBEATUNSUPPORTEDicarous\nICAROUS_KINEMATIC_BANDSUNSUPPORTEDicarous\nISBD_LINK_STATUSUNSUPPORTEDcommon\nLIMITS_STATUSUNSUPPORTEDardupilotmega\nLOCAL_POSITION_NED_COVUNSUPPORTEDcommon\nLOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSETUNSUPPORTEDcommon\nLOGGING_ACKUNSUPPORTEDcommon\nLOGGING_DATAUNSUPPORTEDcommon\nLOGGING_DATA_ACKEDUNSUPPORTEDcommon\nLOG_DATAUNSUPPORTEDcommon\nLOWEHEISER_GOV_EFIUNSUPPORTEDardupilotmega\nMANUAL_SETPOINTUNSUPPORTEDcommon\nMCU_STATUSUNSUPPORTEDardupilotmega\nMEMORY_VECTUNSUPPORTEDcommon\nMISSION_REQUEST_PARTIAL_LISTUNSUPPORTEDcommon\nMOUNT_ORIENTATIONUNSUPPORTEDcommon\nNAMED_VALUE_INTUNSUPPORTEDcommon\nODOMETRYUNSUPPORTEDcommon\nOPEN_DRONE_ID_ARM_STATUSUNSUPPORTEDcommon\nOPEN_DRONE_ID_AUTHENTICATIONUNSUPPORTEDcommon\nOPEN_DRONE_ID_BASIC_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_LOCATIONUNSUPPORTEDcommon\nOPEN_DRONE_ID_MESSAGE_PACKUNSUPPORTEDcommon\nOPEN_DRONE_ID_OPERATOR_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_SELF_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_SYSTEMUNSUPPORTEDcommon\nOPEN_DRONE_ID_SYSTEM_UPDATEUNSUPPORTEDcommon\nOPTICAL_FLOW_RADUNSUPPORTEDcommon\nPARAM_EXT_ACKUNSUPPORTEDcommon\nPARAM_EXT_REQUEST_LISTUNSUPPORTEDcommon\nPARAM_EXT_REQUEST_READUNSUPPORTEDcommon\nPARAM_EXT_SETUNSUPPORTEDcommon\nPARAM_EXT_VALUEUNSUPPORTEDcommon\nPARAM_MAP_RCUNSUPPORTEDcommon\nPINGUNSUPPORTEDcommon\nRADIOUNSUPPORTEDardupilotmega\nRADIO_STATUSUNSUPPORTEDcommon\nRAW_PRESSUREUNSUPPORTEDcommon\nRAW_RPMUNSUPPORTEDcommon\nREMOTE_LOG_DATA_BLOCKUNSUPPORTEDardupilotmega\nRESOURCE_REQUESTUNSUPPORTEDcommon\nSAFETY_ALLOWED_AREAUNSUPPORTEDcommon\nSAFETY_SET_ALLOWED_AREAUNSUPPORTEDcommon\nSECURE_COMMANDUNSUPPORTEDardupilotmega\nSECURE_COMMAND_REPLYUNSUPPORTEDardupilotmega\nSET_ACTUATOR_CONTROL_TARGETUNSUPPORTEDcommon\nSET_MAG_OFFSETSUNSUPPORTEDardupilotmega\nSMART_BATTERY_INFOUNSUPPORTEDcommon\nSTORAGE_INFORMATIONUNSUPPORTEDcommon\nTUNNELUNSUPPORTEDcommon\nUAVCAN_NODE_INFOUNSUPPORTEDcommon\nUAVCAN_NODE_STATUSUNSUPPORTEDcommon\nUAVIONIX_ADSB_GETUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CFG_FLIGHTIDUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CFG_REGISTRATIONUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CONTROLUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_STATUSUNSUPPORTEDuAvionix\nUNKNOWNUNSUPPORTEDcommon\nUTM_GLOBAL_POSITIONUNSUPPORTEDcommon\nV2_EXTENSIONUNSUPPORTEDcommon\nVIDEO_STREAM_INFORMATIONUNSUPPORTEDcommon\nVIDEO_STREAM_STATUSUNSUPPORTEDcommon\nWHEEL_DISTANCEUNSUPPORTEDcommon\nWIFI_CONFIG_APUNSUPPORTEDcommon\nWIND_COVUNSUPPORTEDcommon\n\nMissing Commands\nUnsupported / unhandled commands.\nMAVLink MessageCode SourceMAVLink Dialect\nMAV_CMD_AIRFRAME_CONFIGURATIONUNSUPPORTEDcommon\nMAV_CMD_ARM_AUTHORIZATION_REQUESTUNSUPPORTEDcommon\nMAV_CMD_CAN_FORWARDUNSUPPORTEDcommon\nMAV_CMD_CONDITION_CHANGE_ALTUNSUPPORTEDcommon\nMAV_CMD_CONDITION_LASTUNSUPPORTEDcommon\nMAV_CMD_CONTROL_HIGH_LATENCYUNSUPPORTEDcommon\nMAV_CMD_DO_ADSB_OUT_IDENTUNSUPPORTEDcommon\nMAV_CMD_DO_CHANGE_ALTITUDEUNSUPPORTEDcommon\nMAV_CMD_DO_FOLLOWUNSUPPORTEDcommon\nMAV_CMD_DO_FOLLOW_REPOSITIONUNSUPPORTEDcommon\nMAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWUNSUPPORTEDcommon\nMAV_CMD_DO_GUIDED_MASTERUNSUPPORTEDcommon\nMAV_CMD_DO_JUMP_TAGUNSUPPORTEDcommon\nMAV_CMD_DO_LASTUNSUPPORTEDcommon\nMAV_CMD_DO_MOUNT_CONTROL_QUATUNSUPPORTEDcommon\nMAV_CMD_DO_PAUSE_CONTINUEUNSUPPORTEDcommon\nMAV_CMD_DO_RALLY_LANDUNSUPPORTEDcommon\nMAV_CMD_DO_REPOSITIONUNSUPPORTEDcommon\nMAV_CMD_DO_SET_CAM_TRIGG_INTERVALUNSUPPORTEDcommon\nMAV_CMD_DO_SET_PARAMETERUNSUPPORTEDcommon\nMAV_CMD_DO_SET_ROI_NONEUNSUPPORTEDcommon\nMAV_CMD_DO_SET_ROI_WPNEXT_OFFSETUNSUPPORTEDcommon\nMAV_CMD_DO_TRIGGER_CONTROLUNSUPPORTEDcommon\nMAV_CMD_ENUM_ENDUNSUPPORTEDcommon\nMAV_CMD_FIXED_MAG_CALUNSUPPORTEDardupilotmega\nMAV_CMD_FIXED_MAG_CAL_FIELDUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUSUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_FULL_RESETUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATIONUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_RESETUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_ALTITUDEUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_HEADINGUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_SPEEDUNSUPPORTEDardupilotmega\nMAV_CMD_IMAGE_START_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_IMAGE_STOP_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_JUMP_TAGUNSUPPORTEDcommon\nMAV_CMD_LOGGING_STARTUNSUPPORTEDcommon\nMAV_CMD_LOGGING_STOPUNSUPPORTEDcommon\nMAV_CMD_LOWEHEISER_SET_STATEUNSUPPORTEDardupilotmega\nMAV_CMD_NAV_ATTITUDE_TIMEUNSUPPORTEDardupilotmega\nMAV_CMD_NAV_FOLLOWUNSUPPORTEDcommon\nMAV_CMD_NAV_LAND_LOCALUNSUPPORTEDcommon\nMAV_CMD_NAV_LASTUNSUPPORTEDcommon\nMAV_CMD_NAV_PATHPLANNINGUNSUPPORTEDcommon\nMAV_CMD_NAV_RALLY_POINTUNSUPPORTEDcommon\nMAV_CMD_NAV_ROIUNSUPPORTEDcommon\nMAV_CMD_NAV_SCRIPT_TIMEUNSUPPORTEDardupilotmega\nMAV_CMD_OBLIQUE_SURVEYUNSUPPORTEDcommon\nMAV_CMD_OVERRIDE_GOTOUNSUPPORTEDcommon\nMAV_CMD_PANORAMA_CREATEUNSUPPORTEDcommon\nMAV_CMD_PAYLOAD_CONTROL_DEPLOYUNSUPPORTEDcommon\nMAV_CMD_PAYLOAD_PREPARE_DEPLOYUNSUPPORTEDcommon\nMAV_CMD_POWER_OFF_INITIATEDUNSUPPORTEDardupilotmega\nMAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSUNSUPPORTEDcommon\nMAV_CMD_REQUEST_CAMERA_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_CAMERA_SETTINGSUNSUPPORTEDcommon\nMAV_CMD_REQUEST_FLIGHT_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_PROTOCOL_VERSIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_STORAGE_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_VIDEO_STREAM_STATUSUNSUPPORTEDcommon\nMAV_CMD_RESET_CAMERA_SETTINGSUNSUPPORTEDcommon\nMAV_CMD_SET_CAMERA_MODEUNSUPPORTEDcommon\nMAV_CMD_SET_EKF_SOURCE_SETUNSUPPORTEDardupilotmega\nMAV_CMD_SET_FACTORY_TEST_MODEUNSUPPORTEDardupilotmega\nMAV_CMD_SET_GUIDED_SUBMODE_CIRCLEUNSUPPORTEDcommon\nMAV_CMD_SET_GUIDED_SUBMODE_STANDARDUNSUPPORTEDcommon\nMAV_CMD_SOLO_BTN_FLY_CLICKUNSUPPORTEDardupilotmega\nMAV_CMD_SOLO_BTN_FLY_HOLDUNSUPPORTEDardupilotmega\nMAV_CMD_SOLO_BTN_PAUSE_CLICKUNSUPPORTEDardupilotmega\nMAV_CMD_SPATIAL_USER_1UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_2UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_3UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_4UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_5UNSUPPORTEDcommon\nMAV_CMD_STORAGE_FORMATUNSUPPORTEDcommon\nMAV_CMD_UAVCAN_GET_NODE_INFOUNSUPPORTEDcommon\nMAV_CMD_USER_1UNSUPPORTEDcommon\nMAV_CMD_USER_2UNSUPPORTEDcommon\nMAV_CMD_USER_3UNSUPPORTEDcommon\nMAV_CMD_USER_4UNSUPPORTEDcommon\nMAV_CMD_USER_5UNSUPPORTEDcommon\nMAV_CMD_VIDEO_START_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_VIDEO_START_STREAMINGUNSUPPORTEDcommon\nMAV_CMD_VIDEO_STOP_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_VIDEO_STOP_STREAMINGUNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_1UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_2UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_3UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_4UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_5UNSUPPORTEDcommon\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/","path":"/software/autopilot/ArduSub-4.1/developers/mavlink-messages/","title":"MAVLink Support"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/":{"body":"This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. Some parameters may only be available for developers, and are enabled at compile-time.\nArduSub Parameters\nSURFACE_DEPTH: Depth reading at surface\nThe depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)\n\n\nUnits: cm\n\n\nRange: -100 0\n\n\nFORMAT_VERSION: Eeprom format version number\nNote: This parameter is for advanced users\nThis value is incremented when changes are made to the eeprom format\n\nReadOnly: True\n\nSYSID_THISMAV: MAVLink system ID of this vehicle\nNote: This parameter is for advanced users\nAllows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network\n\nRange: 1 255\n\nSYSID_MYGCS: My ground station number\nNote: This parameter is for advanced users\nAllows restricting radio overrides to only come from my ground station\nPILOT_THR_FILT: Throttle filter cutoff\nNote: This parameter is for advanced users\nThrottle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable\n\n\nUnits: Hz\n\n\nRange: 0 10\n\n\nIncrement: .5\n\n\nGCS_PID_MASK: GCS PID tuning mask\nNote: This parameter is for advanced users\nbitmask of PIDs to send MAVLink PID_TUNING messages for\nValueMeaning\n0None\n1Roll\n2Pitch\n4Yaw\n\n\nBitmask: 0:Roll,1:Pitch,2:Yaw\n\nRNGFND_GAIN: Rangefinder gain\nUsed to adjust the speed with which the target altitude is changed when objects are sensed below the sub\n\n\nRange: 0.01 2.0\n\n\nIncrement: 0.01\n\n\nFS_GCS_ENABLE: Ground Station Failsafe Enable\nControls what action to take when GCS heartbeat is lost.\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n3Enter depth hold mode\n4Enter surface mode\n\nFS_LEAK_ENABLE: Leak Failsafe Enable\nControls what action to take if a leak is detected.\nValueMeaning\n0Disabled\n1Warn only\n2Enter surface mode\n\nFS_PRESS_ENABLE: Internal Pressure Failsafe Enable\nControls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.\nValueMeaning\n0Disabled\n1Warn only\n\nFS_TEMP_ENABLE: Internal Temperature Failsafe Enable\nControls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.\nValueMeaning\n0Disabled\n1Warn only\n\nFS_PRESS_MAX: Internal Pressure Failsafe Threshold\nThe maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter\n\nUnits: Pa\n\nFS_TEMP_MAX: Internal Temperature Failsafe Threshold\nThe maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.\n\nUnits: degC\n\nFS_TERRAIN_ENAB: Terrain Failsafe Enable\nControls what action to take if terrain information is lost during AUTO mode\nValueMeaning\n0Disarm\n1Hold Position\n2Surface\n\nFS_PILOT_INPUT: Pilot input failsafe action\nControls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter\nValueMeaning\n0Disabled\n1Warn Only\n2Disarm\n\nFS_PILOT_TIMEOUT: Timeout for activation of pilot input failsafe\nControls the maximum interval between received pilot inputs before the failsafe action is triggered\n\n\nUnits: s\n\n\nRange: 0.1 3.0\n\n\nXTRACK_ANG_LIM: Crosstrack correction angle limit\nMaximum allowed angle (in degrees) between current track and desired heading during waypoint navigation\n\nRange: 10 90\n\nWP_YAW_BEHAVIOR: Yaw behaviour during missions\nDetermines how the autopilot controls the yaw during missions and RTL\nValueMeaning\n0Never change yaw\n1Face next waypoint\n2Face next waypoint except RTL\n3Face along GPS course\n4Correct crosstrack error\n\nPILOT_SPEED_UP: Pilot maximum vertical ascending speed\nThe maximum vertical ascending velocity the pilot may request in cm/s\n\n\nUnits: cm/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nPILOT_SPEED_DN: Pilot maximum vertical descending speed\nThe maximum vertical descending velocity the pilot may request in cm/s\n\n\nUnits: cm/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nPILOT_ACCEL_Z: Pilot vertical acceleration\nThe vertical acceleration used when pilot is controlling the altitude\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nTHR_DZ: Throttle deadzone\nThe PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes\n\n\nRange: 0 300\n\n\nUnits: PWM\n\n\nIncrement: 1\n\n\nLOG_BITMASK: Log bitmask\n4 byte bitmap of log types to enable\nValueMeaning\n830Default\n894Default+RCIN\n958Default+IMU\n1854Default+Motors\n-6146NearlyAll-AC315\n45054NearlyAll\n131071All+FastATT\n262142All+MotBatt\n393214All+FastIMU\n397310All+FastIMU+PID\n655358All+FullIMU\n0Disabled\n\n\nBitmask: 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\n\nANGLE_MAX: Angle Max\nNote: This parameter is for advanced users\nMaximum lean angle in all flight modes\n\n\nUnits: cdeg\n\n\nIncrement: 10\n\n\nRange: 1000 8000\n\n\nFS_EKF_ACTION: EKF Failsafe Action\nNote: This parameter is for advanced users\nControls the action that will be taken when an EKF failsafe is invoked\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n\nFS_EKF_THRESH: EKF failsafe variance threshold\nNote: This parameter is for advanced users\nAllows setting the maximum acceptable compass and velocity variance\n\nValues: 0.6:Strict,0.8:Default,1.0:Relaxed\n\nFS_CRASH_CHECK: Crash check enable\nNote: This parameter is for advanced users\nThis enables automatic crash checking. When enabled the motors will disarm if a crash is detected.\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n\nJS_GAIN_DEFAULT: Default gain at boot\nDefault gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]\n\nRange: 0.1 1.0\n\nJS_GAIN_MAX: Maximum joystick gain\nMaximum joystick gain\n\nRange: 0.2 1.0\n\nJS_GAIN_MIN: Minimum joystick gain\nMinimum joystick gain\n\nRange: 0.1 0.8\n\nJS_GAIN_STEPS: Gain steps\nControls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.\n\nRange: 1 10\n\nJS_LIGHTS_STEPS: Lights brightness steps\nNumber of steps in brightness between minimum and maximum brightness\n\n\nRange: 1 10\n\n\nUnits: PWM\n\n\nJS_THR_GAIN: Throttle gain scalar\nScalar for gain on the throttle channel\n\nRange: 0.5 4.0\n\nFRAME_CONFIG: Frame configuration\nSet this parameter according to your vehicle/motor configuration\n\nRebootRequired: True\n\nValueMeaning\n0BlueROV1\n1Vectored\n2Vectored_6DOF\n3Vectored_6DOF_90\n4SimpleROV-3\n5SimpleROV-4\n6SimpleROV-5\n7Custom\n\nRC_SPEED: ESC Update Speed\nNote: This parameter is for advanced users\nThis is the speed in Hertz that your ESCs will receive updates\n\n\nUnits: Hz\n\n\nRange: 50 490\n\n\nIncrement: 1\n\n\nACRO_RP_P: Acro Roll and Pitch P gain\nConverts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.\n\nRange: 1 10\n\nACRO_YAW_P: Acro Yaw P gain\nConverts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.\n\nRange: 1 10\n\nACRO_BAL_ROLL: Acro Balance Roll\nNote: This parameter is for advanced users\nrate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.\n\n\nRange: 0 3\n\n\nIncrement: 0.1\n\n\nACRO_BAL_PITCH: Acro Balance Pitch\nNote: This parameter is for advanced users\nrate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.\n\n\nRange: 0 3\n\n\nIncrement: 0.1\n\n\nACRO_TRAINER: Acro Trainer\nNote: This parameter is for advanced users\nType of trainer used in acro mode\nValueMeaning\n0Disabled\n1Leveling\n2Leveling and Limited\n\nACRO_EXPO: Acro Expo\nNote: This parameter is for advanced users\nAcro roll/pitch Expo to allow faster rotation when stick at edges\nValueMeaning\n0Disabled\n0.1Very Low\n0.2Low\n0.3Medium\n0.4High\n0.5Very High\n\nAHRS Parameters\nAHRS_GPS_GAIN: AHRS GPS gain\nNote: This parameter is for advanced users\nThis controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.\n\n\nRange: 0.0 1.0\n\n\nIncrement: .01\n\n\nAHRS_GPS_USE: AHRS use GPS for navigation\nNote: This parameter is for advanced users\nThis controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available.\nValueMeaning\n0Disabled\n1Enabled\n\nAHRS_YAW_P: Yaw P\nNote: This parameter is for advanced users\nThis controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.\n\n\nRange: 0.1 0.4\n\n\nIncrement: .01\n\n\nAHRS_RP_P: AHRS RP_P\nNote: This parameter is for advanced users\nThis controls how fast the accelerometers correct the attitude\n\n\nRange: 0.1 0.4\n\n\nIncrement: .01\n\n\nAHRS_WIND_MAX: Maximum wind\nNote: This parameter is for advanced users\nThis sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.\n\n\nRange: 0 127\n\n\nUnits: m/s\n\n\nIncrement: 1\n\n\nAHRS_TRIM_X: AHRS Trim Roll\nCompensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_TRIM_Y: AHRS Trim Pitch\nCompensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_TRIM_Z: AHRS Trim Yaw\nNote: This parameter is for advanced users\nNot Used\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_ORIENTATION: Board Orientation\nNote: This parameter is for advanced users\nOverall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nAHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient\nNote: This parameter is for advanced users\nThis controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.\n\n\nRange: 0.001 0.5\n\n\nIncrement: .01\n\n\nAHRS_GPS_MINSATS: AHRS GPS Minimum satellites\nNote: This parameter is for advanced users\nMinimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nAHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation\nNote: This parameter is for advanced users\nThis controls which NavEKF Kalman filter version is used for attitude and position estimation\nValueMeaning\n0Disabled\n2Enable EKF2\n3Enable EKF3\n11ExternalAHRS\n\nAHRS_CUSTOM_ROLL: Board orientation roll offset\nNote: This parameter is for advanced users\nAutopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nAHRS_CUSTOM_PIT: Board orientation pitch offset\nNote: This parameter is for advanced users\nAutopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nAHRS_CUSTOM_YAW: Board orientation yaw offset\nNote: This parameter is for advanced users\nAutopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nARMING Parameters\nARMING_ACCTHRESH: Accelerometer error threshold\nNote: This parameter is for advanced users\nAccelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.\n\n\nUnits: m/s/s\n\n\nRange: 0.25 3.0\n\n\nARMING_RUDDER: Arming with Rudder enable/disable\nNote: This parameter is for advanced users\nAllow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)\nValueMeaning\n0Disabled\n1ArmingOnly\n2ArmOrDisarm\n\nARMING_MIS_ITEMS: Required mission items\nNote: This parameter is for advanced users\nBitmask of mission items that are required to be planned in order to arm the aircraft\n\nBitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint\n\nARMING_CHECK: Arm Checks to Perform (bitmask)\nChecks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.\n\nBitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT\n\nARSPD Parameters\nARSPD_TYPE: Airspeed type\nType of airspeed sensor\nValueMeaning\n0None\n1I2C-MS4525D0\n2Analog\n3I2C-MS5525\n4I2C-MS5525 (0x76)\n5I2C-MS5525 (0x77)\n6I2C-SDP3X\n7I2C-DLVR-5in\n8UAVCAN\n9I2C-DLVR-10in\n10I2C-DLVR-20in\n11I2C-DLVR-30in\n12I2C-DLVR-60in\n13NMEA water speed\n14MSP\n15ASP5033\n\nARSPD_USE: Airspeed use\nEnables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).\nValueMeaning\n0DoNotUse\n1Use\n2UseWhenZeroThrottle\n\nARSPD_OFFSET: Airspeed offset\nNote: This parameter is for advanced users\nAirspeed calibration offset\n\nIncrement: 0.1\n\nARSPD_RATIO: Airspeed ratio\nNote: This parameter is for advanced users\nCalibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.\n\nIncrement: 0.1\n\nARSPD_PIN: Airspeed pin\nNote: This parameter is for advanced users\nThe pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. \nARSPD_AUTOCAL: Automatic airspeed ratio calibration\nNote: This parameter is for advanced users\nEnables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.\nARSPD_TUBE_ORDER: Control pitot tube order\nNote: This parameter is for advanced users\nChanges the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed.\nARSPD_SKIP_CAL: Skip airspeed calibration on startup\nNote: This parameter is for advanced users\nThis parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.\nValueMeaning\n0Disable\n1Enable\n\nARSPD_PSI_RANGE: The PSI range of the device\nNote: This parameter is for advanced users\nThis parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device\nARSPD_BUS: Airspeed I2C bus\nNote: This parameter is for advanced users\nBus number of the I2C bus where the airspeed sensor is connected\nValueMeaning\n0Bus0(internal)\n1Bus1(external)\n2Bus2(auxillary)\n\nARSPD_PRIMARY: Primary airspeed sensor\nNote: This parameter is for advanced users\nThis selects which airspeed sensor will be the primary if multiple sensors are found\nValueMeaning\n0FirstSensor\n12ndSensor\n\nARSPD_OPTIONS: Airspeed options bitmask\nNote: This parameter is for advanced users\nBitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set\n\nBitmask: 0:Disable sensor, 1:Re-enable sensor\n\nARSPD_WIND_MAX: Maximum airspeed and ground speed difference\nNote: This parameter is for advanced users\nIf the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.\n\nUnits: m/s\n\nARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning\nNote: This parameter is for advanced users\nIf the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.\n\nUnits: m/s\n\nARSPD2_TYPE: Second Airspeed type\nType of 2nd airspeed sensor\nValueMeaning\n0None\n1I2C-MS4525D0\n2Analog\n3I2C-MS5525\n4I2C-MS5525 (0x76)\n5I2C-MS5525 (0x77)\n6I2C-SDP3X\n7I2C-DLVR-5in\n8UAVCAN\n9I2C-DLVR-10in\n10I2C-DLVR-20in\n11I2C-DLVR-30in\n12I2C-DLVR-60in\n13NMEA water speed\n14MSP\n15ASP5033\n\nARSPD2_USE: Enable use of 2nd airspeed sensor\nuse airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller\nValueMeaning\n0Don't Use\n1use\n2UseWhenZeroThrottle\n\nARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor\nNote: This parameter is for advanced users\nAirspeed calibration offset\n\nIncrement: 0.1\n\nARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor\nNote: This parameter is for advanced users\nAirspeed calibration ratio\n\nIncrement: 0.1\n\nARSPD2_PIN: Airspeed pin for 2nd airspeed sensor\nNote: This parameter is for advanced users\nPin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. \nARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor\nNote: This parameter is for advanced users\nIf this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.\nARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor\nNote: This parameter is for advanced users\nThis parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.\nARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor\nNote: This parameter is for advanced users\nThis parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.\nValueMeaning\n0Disable\n1Enable\n\nARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor\nNote: This parameter is for advanced users\nThis parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device\nARSPD2_BUS: Airspeed I2C bus for 2nd sensor\nNote: This parameter is for advanced users\nThe bus number of the I2C bus to look for the sensor on\nValueMeaning\n0Bus0(internal)\n1Bus1(external)\n2Bus2(auxillary)\n\nATC Parameters\nATC_SLEW_YAW: Yaw target slew rate\nNote: This parameter is for advanced users\nMaximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes\n\n\nUnits: cdeg/s\n\n\nRange: 500 18000\n\n\nIncrement: 100\n\n\nATC_ACCEL_Y_MAX: Acceleration Max for Yaw\nNote: This parameter is for advanced users\nMaximum acceleration in yaw axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 72000\n\n\nValueMeaning\n0Disabled\n9000VerySlow\n18000Slow\n36000Medium\n54000Fast\n\n\nIncrement: 1000\n\nATC_RATE_FF_ENAB: Rate Feedforward Enable\nNote: This parameter is for advanced users\nControls whether body-frame rate feedfoward is enabled or disabled\nValueMeaning\n0Disabled\n1Enabled\n\nATC_ACCEL_R_MAX: Acceleration Max for Roll\nNote: This parameter is for advanced users\nMaximum acceleration in roll axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 180000\n\n\nIncrement: 1000\n\n\nValueMeaning\n0Disabled\n30000VerySlow\n72000Slow\n108000Medium\n162000Fast\n\nATC_ACCEL_P_MAX: Acceleration Max for Pitch\nNote: This parameter is for advanced users\nMaximum acceleration in pitch axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 180000\n\n\nIncrement: 1000\n\n\nValueMeaning\n0Disabled\n30000VerySlow\n72000Slow\n108000Medium\n162000Fast\n\nATC_ANGLE_BOOST: Angle Boost\nNote: This parameter is for advanced users\nAngle Boost increases output throttle as the vehicle leans to reduce loss of altitude\nValueMeaning\n0Disabled\n1Enabled\n\nATC_ANG_RLL_P: Roll axis angle controller P gain\nRoll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate\n\nRange: 0.0 12.000\n\nATC_ANG_PIT_P: Pitch axis angle controller P gain\nPitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate\n\nRange: 0.0 12.000\n\nATC_ANG_YAW_P: Yaw axis angle controller P gain\nYaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate\n\nRange: 0.0 6.000\n\nATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant\nNote: This parameter is for advanced users\nAngle Limit (to maintain altitude) Time Constant\n\nRange: 0.5 10.0\n\nATC_RATE_R_MAX: Angular Velocity Max for Roll\nNote: This parameter is for advanced users\nMaximum angular velocity in roll axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_RATE_P_MAX: Angular Velocity Max for Pitch\nNote: This parameter is for advanced users\nMaximum angular velocity in pitch axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_RATE_Y_MAX: Angular Velocity Max for Yaw\nNote: This parameter is for advanced users\nMaximum angular velocity in yaw axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_INPUT_TC: Attitude control input time constant\nAttitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response\n\n\nUnits: s\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nValues: 0.5:Very Soft,0.2:Soft,0.15:Medium,0.1:Crisp,0.05:Very Crisp\n\n\nATC_RAT_RLL_P: Roll axis rate controller P gain\nRoll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output\n\n\nRange: 0.0 0.30\n\n\nIncrement: 0.005\n\n\nATC_RAT_RLL_I: Roll axis rate controller I gain\nRoll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate\n\n\nRange: 0.0 0.5\n\n\nIncrement: 0.01\n\n\nATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum\nRoll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_RLL_D: Roll axis rate controller D gain\nRoll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate\n\n\nRange: 0.0 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_RLL_FF: Roll axis rate controller feed forward\nRoll axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_RLL_FLTT: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_FLTE: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_FLTD: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_SMAX: Roll slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_RAT_PIT_P: Pitch axis rate controller P gain\nPitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output\n\n\nRange: 0.0 0.30\n\n\nIncrement: 0.005\n\n\nATC_RAT_PIT_I: Pitch axis rate controller I gain\nPitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate\n\n\nRange: 0.0 0.5\n\n\nIncrement: 0.01\n\n\nATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum\nPitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_PIT_D: Pitch axis rate controller D gain\nPitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate\n\n\nRange: 0.0 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_PIT_FF: Pitch axis rate controller feed forward\nPitch axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_PIT_FLTT: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FLTE: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FLTD: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_SMAX: Pitch slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_RAT_YAW_P: Yaw axis rate controller P gain\nYaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output\n\n\nRange: 0.0 0.50\n\n\nIncrement: 0.005\n\n\nATC_RAT_YAW_I: Yaw axis rate controller I gain\nYaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate\n\n\nRange: 0.0 0.05\n\n\nIncrement: 0.01\n\n\nATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum\nYaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_YAW_D: Yaw axis rate controller D gain\nYaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate\n\n\nRange: 0.000 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_YAW_FF: Yaw axis rate controller feed forward\nYaw axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_YAW_FLTT: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FLTE: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FLTD: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_SMAX: Yaw slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_THR_MIX_MIN: Throttle Mix Minimum\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.1 0.25\n\nATC_THR_MIX_MAX: Throttle Mix Maximum\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.5 0.9\n\nATC_THR_MIX_MAN: Throttle Mix Manual\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.5 0.9\n\nATC_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nAVOID Parameters\nAVOID_ENABLE: Avoidance control enable/disable\nEnabled/disable avoidance input sources\n\nBitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence\n\nAVOID_MARGIN: Avoidance distance margin in GPS modes\nVehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes\n\n\nUnits: m\n\n\nRange: 1 10\n\n\nAVOID_BACKUP_SPD: Avoidance maximum backup speed\nMaximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable\n\n\nUnits: m/s\n\n\nRange: 0 2\n\n\nAVOID_ACCEL_MAX: Avoidance maximum acceleration\nMaximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits\n\n\nUnits: m/s/s\n\n\nRange: 0 9\n\n\nAVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle\nDistance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.\n\n\nUnits: m\n\n\nRange: 0 2\n\n\nBARO Parameters\nBARO1_GND_PRESS: Ground Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO_GND_TEMP: ground temperature\nNote: This parameter is for advanced users\nUser provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.\n\n\nUnits: degC\n\n\nIncrement: 1\n\n\nVolatile: True\n\n\nBARO_ALT_OFFSET: altitude offset\nNote: This parameter is for advanced users\naltitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.\n\n\nUnits: m\n\n\nIncrement: 0.1\n\n\nBARO_PRIMARY: Primary barometer\nNote: This parameter is for advanced users\nThis selects which barometer will be the primary if multiple barometers are found\nValueMeaning\n0FirstBaro\n12ndBaro\n23rdBaro\n\nBARO_EXT_BUS: External baro bus\nNote: This parameter is for advanced users\nThis selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.\nValueMeaning\n-1Disabled\n0Bus0\n1Bus1\n6Bus6\n\nBARO_SPEC_GRAV: Specific Gravity (For water depth measurement)\nThis sets the specific gravity of the fluid when flying an underwater ROV.\n\nValues: 1.0:Freshwater,1.024:Saltwater\n\nBARO2_GND_PRESS: Ground Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO3_GND_PRESS: Absolute Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO_FLTR_RNG: Range in which sample is accepted\nThis sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.\n\n\nUnits: %\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nBARO_PROBE_EXT: External barometers to probe\nNote: This parameter is for advanced users\nThis sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.\n\nBitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP\n\nBARO1_DEVID: Baro ID\nNote: This parameter is for advanced users\nBarometer sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBARO2_DEVID: Baro ID2\nNote: This parameter is for advanced users\nBarometer2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBARO3_DEVID: Baro ID3\nNote: This parameter is for advanced users\nBarometer3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBAROnWCF Parameters\nBAROn_WCF_ENABLE: Wind coefficient enable\nNote: This parameter is for advanced users\nThis enables the use of wind coefficients for barometer compensation\nValueMeaning\n0Disabled\n1Enabled\n\nBAROn_WCF_FWD: Pressure error coefficient in positive X direction (forward)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_BCK: Pressure error coefficient in negative X direction (backwards)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_RGT: Pressure error coefficient in positive Y direction (right)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_LFT: Pressure error coefficient in negative Y direction (left)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBATTn Parameters\nBATTn_MONITOR: Battery monitoring\nControls enabling monitoring of the battery's voltage and current\nValueMeaning\n0Disabled\n3Analog Voltage Only\n4Analog Voltage and Current\n5Solo\n6Bebop\n7SMBus-Generic\n8UAVCAN-BatteryInfo\n9ESC\n10SumOfFollowing\n11FuelFlow\n12FuelLevelPWM\n13SMBUS-SUI3\n14SMBUS-SUI6\n15NeoDesign\n16SMBus-Maxell\n17Generator-Elec\n18Generator-Fuel\n19Rotoye\n\n\nRebootRequired: True\n\nBATTn_VOLT_PIN: Battery Voltage sensing pin\nSets the analog input pin that should be used for voltage monitoring.\nValueMeaning\n-1Disabled\n2Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n5Navigator\n13Pixhawk2_PM2/CubeOrange_PM2\n14CubeOrange\n16Durandal\n100PX4-v1\n\n\nRebootRequired: True\n\nBATTn_CURR_PIN: Battery Current sensing pin\nSets the analog input pin that should be used for current monitoring.\nValueMeaning\n-1Disabled\n3Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n4CubeOrange_PM2/Navigator\n14Pixhawk2_PM2\n15CubeOrange\n17Durandal\n101PX4-v1\n\n\nRebootRequired: True\n\nBATTn_VOLT_MULT: Voltage Multiplier\nNote: This parameter is for advanced users\nUsed to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.\nBATTn_AMP_PERVLT: Amps per volt\nNumber of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.\n\nUnits: A/V\n\nBATTn_AMP_OFFSET: AMP offset\nVoltage offset at zero current on current sensor\n\nUnits: V\n\nBATTn_CAPACITY: Battery capacity\nCapacity of the battery in mAh when full\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_SERIAL_NUM: Battery serial number\nNote: This parameter is for advanced users\nBattery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.\nBATTn_LOW_TIMER: Low voltage timeout\nNote: This parameter is for advanced users\nThis is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.\n\n\nUnits: s\n\n\nIncrement: 1\n\n\nRange: 0 120\n\n\nBATTn_FS_VOLTSRC: Failsafe voltage source\nNote: This parameter is for advanced users\nVoltage type used for detection of low voltage event\nValueMeaning\n0Raw Voltage\n1Sag Compensated Voltage\n\nBATTn_LOW_VOLT: Low battery voltage\nBattery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_LOW_MAH: Low battery capacity\nBattery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_CRT_VOLT: Critical battery voltage\nBattery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_CRT_MAH: Battery critical capacity\nBattery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_FS_LOW_ACT: Low battery failsafe action\nWhat action the vehicle should perform if it hits a low battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATTn_FS_CRT_ACT: Critical battery failsafe action\nWhat action the vehicle should perform if it hits a critical battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATTn_ARM_VOLT: Required arming voltage\nNote: This parameter is for advanced users\nBattery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_ARM_MAH: Required arming remaining capacity\nNote: This parameter is for advanced users\nBattery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_BUS: Battery monitor I2C bus number\nBattery monitor I2C bus number\n\nRange: 0 3\n\nBATTn_OPTIONS: Battery monitor options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the battery monitor\n\nBitmask: 0:Ignore UAVCAN SoC\n\nBATT Parameters\nBATT_MONITOR: Battery monitoring\nControls enabling monitoring of the battery's voltage and current\nValueMeaning\n0Disabled\n3Analog Voltage Only\n4Analog Voltage and Current\n5Solo\n6Bebop\n7SMBus-Generic\n8UAVCAN-BatteryInfo\n9ESC\n10SumOfFollowing\n11FuelFlow\n12FuelLevelPWM\n13SMBUS-SUI3\n14SMBUS-SUI6\n15NeoDesign\n16SMBus-Maxell\n17Generator-Elec\n18Generator-Fuel\n19Rotoye\n\n\nRebootRequired: True\n\nBATT_VOLT_PIN: Battery Voltage sensing pin\nSets the analog input pin that should be used for voltage monitoring.\nValueMeaning\n-1Disabled\n2Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n5Navigator\n13Pixhawk2_PM2/CubeOrange_PM2\n14CubeOrange\n16Durandal\n100PX4-v1\n\n\nRebootRequired: True\n\nBATT_CURR_PIN: Battery Current sensing pin\nSets the analog input pin that should be used for current monitoring.\nValueMeaning\n-1Disabled\n3Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n4CubeOrange_PM2/Navigator\n14Pixhawk2_PM2\n15CubeOrange\n17Durandal\n101PX4-v1\n\n\nRebootRequired: True\n\nBATT_VOLT_MULT: Voltage Multiplier\nNote: This parameter is for advanced users\nUsed to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.\nBATT_AMP_PERVLT: Amps per volt\nNumber of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.\n\nUnits: A/V\n\nBATT_AMP_OFFSET: AMP offset\nVoltage offset at zero current on current sensor\n\nUnits: V\n\nBATT_CAPACITY: Battery capacity\nCapacity of the battery in mAh when full\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_SERIAL_NUM: Battery serial number\nNote: This parameter is for advanced users\nBattery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.\nBATT_LOW_TIMER: Low voltage timeout\nNote: This parameter is for advanced users\nThis is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.\n\n\nUnits: s\n\n\nIncrement: 1\n\n\nRange: 0 120\n\n\nBATT_FS_VOLTSRC: Failsafe voltage source\nNote: This parameter is for advanced users\nVoltage type used for detection of low voltage event\nValueMeaning\n0Raw Voltage\n1Sag Compensated Voltage\n\nBATT_LOW_VOLT: Low battery voltage\nBattery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_LOW_MAH: Low battery capacity\nBattery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_CRT_VOLT: Critical battery voltage\nBattery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_CRT_MAH: Battery critical capacity\nBattery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_FS_LOW_ACT: Low battery failsafe action\nWhat action the vehicle should perform if it hits a low battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATT_FS_CRT_ACT: Critical battery failsafe action\nWhat action the vehicle should perform if it hits a critical battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATT_ARM_VOLT: Required arming voltage\nNote: This parameter is for advanced users\nBattery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_ARM_MAH: Required arming remaining capacity\nNote: This parameter is for advanced users\nBattery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_BUS: Battery monitor I2C bus number\nBattery monitor I2C bus number\n\nRange: 0 3\n\nBATT_OPTIONS: Battery monitor options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the battery monitor\n\nBitmask: 0:Ignore UAVCAN SoC\n\nBRD Parameters\nBRD_PWM_COUNT: Auxiliary pin config\nNote: This parameter is for advanced users\nControls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO\nValueMeaning\n0No PWMs\n1One PWMs\n2Two PWMs\n3Three PWMs\n4Four PWMs\n5Five PWMs\n6Six PWMs\n7Seven PWMs\n8Eight PWMs\n\n\nRebootRequired: True\n\nBRD_SER1_RTSCTS: Serial 1 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER2_RTSCTS: Serial 2 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER3_RTSCTS: Serial 3 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER4_RTSCTS: Serial 4 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER5_RTSCTS: Serial 5 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SAFETYENABLE: Enable use of safety arming switch\nThis controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nBRD_SBUS_OUT: SBUS output rate\nNote: This parameter is for advanced users\nThis sets the SBUS output frame rate in Hz\nValueMeaning\n0Disabled\n150Hz\n275Hz\n3100Hz\n4150Hz\n5200Hz\n6250Hz\n7300Hz\n\n\nRebootRequired: True\n\nBRD_SERIAL_NUM: User-defined serial number\nUser-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot\n\nRange: -32768 32767\n\nBRD_SAFETY_MASK: Outputs which ignore the safety switch state\nNote: This parameter is for advanced users\nA bitmask which controls what outputs can move while the safety switch has not been pressed\n\n\nBitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14\n\n\nRebootRequired: True\n\n\nBRD_IMU_TARGTEMP: Target IMU temperature\nNote: This parameter is for advanced users\nThis sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.\n\n\nRange: -1 80\n\n\nUnits: degC\n\n\nBRD_TYPE: Board type\nNote: This parameter is for advanced users\nThis allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)\nValueMeaning\n0AUTO\n1PX4V1\n2Pixhawk\n3Cube/Pixhawk2\n4Pixracer\n5PixhawkMini\n6Pixhawk2Slim\n13Intel Aero FC\n14Pixhawk Pro\n20AUAV2.1\n21PCNC1\n22MINDPXV2\n23SP01\n24CUAVv5/FMUV5\n30VRX BRAIN51\n32VRX BRAIN52\n33VRX BRAIN52E\n34VRX UBRAIN51\n35VRX UBRAIN52\n36VRX CORE10\n38VRX BRAIN54\n39PX4 FMUV6\n100PX4 OLDDRIVERS\n\n\nRebootRequired: True\n\nBRD_IO_ENABLE: Enable IO co-processor\nNote: This parameter is for advanced users\nThis allows for the IO co-processor on FMUv1 and FMUv2 to be disabled\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nBRD_SAFETYOPTION: Options for safety button behavior\nThis controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed\n\nBitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms\n\nBRD_VBUS_MIN: Autopilot board voltage requirement\nNote: This parameter is for advanced users\nMinimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.\n\n\nUnits: V\n\n\nRange: 4.0 5.5\n\n\nIncrement: 0.1\n\n\nBRD_VSERVO_MIN: Servo voltage requirement\nNote: This parameter is for advanced users\nMinimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.\n\n\nUnits: V\n\n\nRange: 3.3 12.0\n\n\nIncrement: 0.1\n\n\nBRD_SD_SLOWDOWN: microSD slowdown\nNote: This parameter is for advanced users\nThis is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.\n\n\nRange: 0 32\n\n\nIncrement: 1\n\n\nBRD_PWM_VOLT_SEL: Set PWM Out Voltage\nNote: This parameter is for advanced users\nThis sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.\nValueMeaning\n03.3V\n15V\n\nBRD_OPTIONS: Board options\nNote: This parameter is for advanced users\nBoard specific option flags\n\nBitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins\n\nBRD_BOOT_DELAY: Boot delay\nNote: This parameter is for advanced users\nThis adds a delay in milliseconds to boot to ensure peripherals initialise fully\n\n\nRange: 0 10000\n\n\nUnits: ms\n\n\nBRD_IMUHEAT_P: IMU Heater P gain\nNote: This parameter is for advanced users\nIMU Heater P gain\n\n\nRange: 1 500\n\n\nIncrement: 1\n\n\nBRD_IMUHEAT_I: IMU Heater I gain\nNote: This parameter is for advanced users\nIMU Heater integrator gain\n\n\nRange: 0 1\n\n\nIncrement: 0.1\n\n\nBRD_IMUHEAT_IMAX: IMU Heater IMAX\nNote: This parameter is for advanced users\nIMU Heater integrator maximum\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nBRD_ALT_CONFIG: Alternative HW config\nNote: This parameter is for advanced users\nSelect an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nBRDRADIO Parameters\nBRD_RADIO_TYPE: Set type of direct attached radio\nThis enables support for direct attached radio receivers\nValueMeaning\n0None\n1CYRF6936\n2CC2500\n3BK2425\n\nBRD_RADIO_PROT: protocol\nNote: This parameter is for advanced users\nSelect air protocol\nValueMeaning\n0Auto\n1DSM2\n2DSMX\n\nBRD_RADIO_DEBUG: debug level\nNote: This parameter is for advanced users\nradio debug level\n\nRange: 0 4\n\nBRD_RADIO_DISCRC: disable receive CRC\nNote: This parameter is for advanced users\ndisable receive CRC (for debug)\nValueMeaning\n0NotDisabled\n1Disabled\n\nBRD_RADIO_SIGCH: RSSI signal strength\nNote: This parameter is for advanced users\nChannel to show receive RSSI signal strength, or zero for disabled\n\nRange: 0 16\n\nBRD_RADIO_PPSCH: Packet rate channel\nNote: This parameter is for advanced users\nChannel to show received packet-per-second rate, or zero for disabled\n\nRange: 0 16\n\nBRD_RADIO_TELEM: Enable telemetry\nNote: This parameter is for advanced users\nIf this is non-zero then telemetry packets will be sent over DSM\nValueMeaning\n0Disabled\n1Enabled\n\nBRD_RADIO_TXPOW: Telemetry Transmit power\nNote: This parameter is for advanced users\nSet telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX\n\nRange: 1 8\n\nBRD_RADIO_FCCTST: Put radio into FCC test mode\nNote: This parameter is for advanced users\nIf this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled\nValueMeaning\n0Disabled\n1MinChannel\n2MidChannel\n3MaxChannel\n4MinChannelCW\n5MidChannelCW\n6MaxChannelCW\n\nBRD_RADIO_STKMD: Stick input mode\nNote: This parameter is for advanced users\nThis selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.\nValueMeaning\n1Mode1\n2Mode2\n\nBRD_RADIO_TESTCH: Set radio to factory test channel\nNote: This parameter is for advanced users\nThis sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.\nValueMeaning\n0Disabled\n1TestChan1\n2TestChan2\n3TestChan3\n4TestChan4\n5TestChan5\n6TestChan6\n7TestChan7\n8TestChan8\n\nBRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter\nNote: This parameter is for advanced users\nChannel to show telemetry RSSI value as received by TX\n\nRange: 0 16\n\nBRD_RADIO_TPPSCH: Telemetry PPS channel\nNote: This parameter is for advanced users\nChannel to show telemetry packets-per-second value, as received at TX\n\nRange: 0 16\n\nBRD_RADIO_TXMAX: Transmitter transmit power\nNote: This parameter is for advanced users\nSet transmitter maximum transmit power (from 1 to 8)\n\nRange: 1 8\n\nBRD_RADIO_BZOFS: Transmitter buzzer adjustment\nNote: This parameter is for advanced users\nSet transmitter buzzer note adjustment (adjust frequency up)\n\nRange: 0 40\n\nBRD_RADIO_ABTIME: Auto-bind time\nNote: This parameter is for advanced users\nWhen non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.\n\nRange: 0 120\n\nBRD_RADIO_ABLVL: Auto-bind level\nNote: This parameter is for advanced users\nThis sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially\n\nRange: 0 31\n\nBRDRTC Parameters\nBRD_RTC_TYPES: Allowed sources of RTC time\nNote: This parameter is for advanced users\nSpecifies which sources of UTC time will be accepted\n\nBitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW\n\nBRD_RTC_TZ_MIN: Timezone offset from UTC\nNote: This parameter is for advanced users\nAdds offset in +- minutes from UTC to calculate local time\n\nRange: -720 +840\n\nBTNn Parameters\nBTNn_FUNCTION: Function for button\nSet to 0 to disable or choose a function\nValueMeaning\n0Disabled\n1shift\n2arm_toggle\n3arm\n4disarm\n5mode_manual\n6mode_stabilize\n7mode_depth_hold\n8mode_poshold\n9mode_auto\n10mode_circle\n11mode_guided\n12mode_acro\n21mount_center\n22mount_tilt_up\n23mount_tilt_down\n24camera_trigger\n25camera_source_toggle\n26mount_pan_right\n27mount_pan_left\n31lights1_cycle\n32lights1_brighter\n33lights1_dimmer\n34lights2_cycle\n35lights2_brighter\n36lights2_dimmer\n41gain_toggle\n42gain_inc\n43gain_dec\n44trim_roll_inc\n45trim_roll_dec\n46trim_pitch_inc\n47trim_pitch_dec\n48input_hold_set\n49roll_pitch_toggle\n51relay_1_on\n52relay_1_off\n53relay_1_toggle\n54relay_2_on\n55relay_2_off\n56relay_2_toggle\n57relay_3_on\n58relay_3_off\n59relay_3_toggle\n61servo_1_inc\n62servo_1_dec\n63servo_1_min\n64servo_1_max\n65servo_1_center\n66servo_2_inc\n67servo_2_dec\n68servo_2_min\n69servo_2_max\n70servo_2_center\n71servo_3_inc\n72servo_3_dec\n73servo_3_min\n74servo_3_max\n75servo_3_center\n76servo_1_min_momentary\n77servo_1_max_momentary\n78servo_1_min_toggle\n79servo_1_max_toggle\n80servo_2_min_momentary\n81servo_2_max_momentary\n82servo_2_min_toggle\n83servo_2_max_toggle\n84servo_3_min_momentary\n85servo_3_max_momentary\n86servo_3_min_toggle\n87servo_3_max_toggle\n91custom_1\n92custom_2\n93custom_3\n94custom_4\n95custom_5\n96custom_6\n101relay_4_on\n102relay_4_off\n103relay_4_toggle\n104relay_1_momentary\n105relay_2_momentary\n106relay_3_momentary\n107relay_4_momentary\n\nBTNn_SFUNCTION: Function for button when the shift mode is toggled on\nSet to 0 to disable or choose a function\nValueMeaning\n0Disabled\n1shift\n2arm_toggle\n3arm\n4disarm\n5mode_manual\n6mode_stabilize\n7mode_depth_hold\n8mode_poshold\n9mode_auto\n10mode_circle\n11mode_guided\n12mode_acro\n21mount_center\n22mount_tilt_up\n23mount_tilt_down\n24camera_trigger\n25camera_source_toggle\n26mount_pan_right\n27mount_pan_left\n31lights1_cycle\n32lights1_brighter\n33lights1_dimmer\n34lights2_cycle\n35lights2_brighter\n36lights2_dimmer\n41gain_toggle\n42gain_inc\n43gain_dec\n44trim_roll_inc\n45trim_roll_dec\n46trim_pitch_inc\n47trim_pitch_dec\n48input_hold_set\n49roll_pitch_toggle\n51relay_1_on\n52relay_1_off\n53relay_1_toggle\n54relay_2_on\n55relay_2_off\n56relay_2_toggle\n57relay_3_on\n58relay_3_off\n59relay_3_toggle\n61servo_1_inc\n62servo_1_dec\n63servo_1_min\n64servo_1_max\n65servo_1_center\n66servo_2_inc\n67servo_2_dec\n68servo_2_min\n69servo_2_max\n70servo_2_center\n71servo_3_inc\n72servo_3_dec\n73servo_3_min\n74servo_3_max\n75servo_3_center\n76servo_1_min_momentary\n77servo_1_max_momentary\n78servo_1_min_toggle\n79servo_1_max_toggle\n80servo_2_min_momentary\n81servo_2_max_momentary\n82servo_2_min_toggle\n83servo_2_max_toggle\n84servo_3_min_momentary\n85servo_3_max_momentary\n86servo_3_min_toggle\n87servo_3_max_toggle\n91custom_1\n92custom_2\n93custom_3\n94custom_4\n95custom_5\n96custom_6\n101relay_4_on\n102relay_4_off\n103relay_4_toggle\n104relay_1_momentary\n105relay_2_momentary\n106relay_3_momentary\n107relay_4_momentary\n\nCAM Parameters\nCAM_TRIGG_TYPE: Camera shutter (trigger) type\nhow to trigger the camera to take a picture\nValueMeaning\n0Servo\n1Relay\n2GoPro in Solo Gimbal\n\nCAM_DURATION: Duration that shutter is held open\nHow long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)\n\n\nUnits: ds\n\n\nRange: 0 50\n\n\nCAM_SERVO_ON: Servo ON PWM value\nPWM value in microseconds to move servo to when shutter is activated\n\n\nUnits: PWM\n\n\nRange: 1000 2000\n\n\nCAM_SERVO_OFF: Servo OFF PWM value\nPWM value in microseconds to move servo to when shutter is deactivated\n\n\nUnits: PWM\n\n\nRange: 1000 2000\n\n\nCAM_TRIGG_DIST: Camera trigger distance\nDistance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.\n\n\nUnits: m\n\n\nRange: 0 1000\n\n\nCAM_RELAY_ON: Relay ON value\nThis sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera\nValueMeaning\n0Low\n1High\n\nCAM_MIN_INTERVAL: Minimum time between photos\nPostpone shooting if previous picture was taken less than preset time(ms) ago.\n\n\nUnits: ms\n\n\nRange: 0 10000\n\n\nCAM_MAX_ROLL: Maximum photo roll angle.\nPostpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).\n\n\nUnits: deg\n\n\nRange: 0 180\n\n\nCAM_FEEDBACK_PIN: Camera feedback pin\npin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.\nValueMeaning\n-1Disabled\n50AUX1\n51AUX2\n52AUX3\n53AUX4\n54AUX5\n55AUX6\n\n\nRebootRequired: True\n\nCAM_FEEDBACK_POL: Camera feedback pin polarity\nPolarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low\nValueMeaning\n0TriggerLow\n1TriggerHigh\n\nCAM_AUTO_ONLY: Distance-trigging in AUTO mode only\nWhen enabled, trigging by distance is done in AUTO mode only.\nValueMeaning\n0Always\n1Only when in AUTO\n\nCAM_TYPE: Type of camera (0: None, 1: BMMCC)\nSet the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.\nValueMeaning\n0Default\n1BMMCC\n\nCAMRC Parameters\nCAM_RC_TYPE: RunCam device type\nRunCam deviee type used to determine OSD menu structure and shutter options.\nValueMeaning\n0Disabled\n1RunCam Split Micro/RunCam with UART\n2RunCam Split\n3RunCam Split4 4k\n4RunCam Hybrid\n\nCAM_RC_FEATURES: RunCam features available\nNote: This parameter is for advanced users\nThe available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.\n\nBitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording\n\nCAM_RC_BT_DELAY: RunCam boot delay before allowing updates\nNote: This parameter is for advanced users\nTime it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.\nCAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses\nNote: This parameter is for advanced users\nTime it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.\nCAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses\nNote: This parameter is for advanced users\nTime it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.\nCAM_RC_CONTROL: RunCam control option\nNote: This parameter is for advanced users\nSpecifies the allowed actions required to enter the OSD menu\n\nBitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled\n\nCAN Parameters\nCAN_LOGLEVEL: Loglevel\nNote: This parameter is for advanced users\nLoglevel for recording initialisation and debug information from CAN Interface\n\nRange: 0 4\n\nValueMeaning\n0Log None\n1Log Error\n2Log Warning and below\n3Log Info and below\n4Log Everything\n\nCANDn Parameters\nCAN_Dn_PROTOCOL: Enable use of specific protocol over virtual driver\nNote: This parameter is for advanced users\nEnabling this option starts selected protocol that will use this virtual driver\nValueMeaning\n0Disabled\n1UAVCAN\n3ToshibaCAN\n4PiccoloCAN\n5CANTester\n8KDECAN\n9PacketDigitalCAN\n\n\nRebootRequired: True\n\nCANDnKDE Parameters\nCAN_Dn_KDE_NPOLE: Number of motor poles\nSets the number of motor poles to calculate the correct RPM value\nCANDnPC Parameters\nCAN_Dn_PC_ESC_BM: ESC channels\nNote: This parameter is for advanced users\nBitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN\n\nBitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16\n\nCAN_Dn_PC_ESC_RT: ESC output rate\nNote: This parameter is for advanced users\nOutput rate of ESC command messages\n\n\nUnits: Hz\n\n\nRange: 1 500\n\n\nCAN_Dn_PC_SRV_BM: Servo channels\nNote: This parameter is for advanced users\nBitmask defining which servo channels are to be transmitted over Piccolo CAN\n\nBitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16\n\nCAN_Dn_PC_SRV_RT: Servo command output rate\nNote: This parameter is for advanced users\nOutput rate of servo command messages\n\n\nUnits: Hz\n\n\nRange: 1 500\n\n\nCANDnTST Parameters\nCAN_Dn_TST_ID: CAN Test Index\nNote: This parameter is for advanced users\nSelects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.\n\nRange: 0 4\n\nValueMeaning\n0TEST_NONE\n1TEST_LOOPBACK\n2TEST_BUSOFF_RECOVERY\n3TEST_UAVCAN_DNA\n4TEST_TOSHIBA_CAN\n5TEST_KDE_CAN\n6TEST_UAVCAN_ESC\n\nCAN_Dn_TST_LPR8: CANTester LoopRate\nNote: This parameter is for advanced users\nSelects the Looprate of Test methods\n\nUnits: us\n\nCANDnUC Parameters\nCAN_Dn_UC_NODE: UAVCAN node that is used for this network\nNote: This parameter is for advanced users\nUAVCAN node should be set implicitly\n\nRange: 1 250\n\nCAN_Dn_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN\nNote: This parameter is for advanced users\nBitmask with one set for channel to be transmitted as a servo command over UAVCAN\n\nBitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15\n\nCAN_Dn_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN\nNote: This parameter is for advanced users\nBitmask with one set for channel to be transmitted as a ESC command over UAVCAN\n\nBitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16\n\nCAN_Dn_UC_SRV_RT: Servo output rate\nNote: This parameter is for advanced users\nMaximum transmit rate for servo outputs\n\n\nRange: 1 200\n\n\nUnits: Hz\n\n\nCAN_Dn_UC_OPTION: UAVCAN options\nNote: This parameter is for advanced users\nOption flags\n\nBitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts\n\nCANPn Parameters\nCAN_Pn_DRIVER: Index of virtual driver to be used with physical CAN interface\nEnabling this option enables use of CAN buses.\nValueMeaning\n0Disabled\n1First driver\n2Second driver\n\n\nRebootRequired: True\n\nCAN_Pn_BITRATE: Bitrate of CAN interface\nNote: This parameter is for advanced users\nBit rate can be set up to from 10000 to 1000000\n\nRange: 10000 1000000\n\nCANSLCAN Parameters\nCAN_SLCAN_CPORT: SLCAN Route\nCAN Interface ID to be routed to SLCAN, 0 means no routing\nValueMeaning\n0Disabled\n1First interface\n2Second interface\n\n\nRebootRequired: True\n\nCAN_SLCAN_SERNUM: SLCAN Serial Port\nSerial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nCAN_SLCAN_TIMOUT: SLCAN Timeout\nDuration of inactivity after which SLCAN is switched back to original driver in seconds.\n\nRange: 0 127\n\nCAN_SLCAN_SDELAY: SLCAN Start Delay\nDuration after which slcan starts after setting SERNUM in seconds.\n\nRange: 0 127\n\nCIRCLE Parameters\nCIRCLE_RADIUS: Circle Radius\nDefines the radius of the circle the vehicle will fly when in Circle flight mode\n\n\nUnits: cm\n\n\nRange: 0 200000\n\n\nIncrement: 100\n\n\nCIRCLE_RATE: Circle rate\nCircle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise\n\n\nUnits: deg/s\n\n\nRange: -90 90\n\n\nIncrement: 1\n\n\nCIRCLE_OPTIONS: Circle options\n0:Enable or disable using the pitch/roll stick control circle mode's radius and rate\n\nBitmask: 0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter\n\nCOMPASS Parameters\nCOMPASS_OFS_X: Compass offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to the compass x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS_Y: Compass offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to the compass y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS_Z: Compass offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to the compass z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_DEC: Compass declination\nAn angle to compensate between the true north and magnetic north\n\n\nRange: -3.142 3.142\n\n\nUnits: rad\n\n\nIncrement: 0.01\n\n\nCOMPASS_LEARN: Learn compass offsets automatically\nNote: This parameter is for advanced users\nEnable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.\nValueMeaning\n0Disabled\n1Internal-Learning\n2EKF-Learning\n3InFlight-Learning\n\nCOMPASS_USE: Use compass for yaw\nNote: This parameter is for advanced users\nEnable or disable the use of the compass (instead of the GPS) for determining heading\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_AUTODEC: Auto Declination\nNote: This parameter is for advanced users\nEnable or disable the automatic calculation of the declination based on gps location\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_MOTCT: Motor interference compensation type\nNote: This parameter is for advanced users\nSet motor interference compensation type to disabled, throttle or current. Do not change manually.\nValueMeaning\n0Disabled\n1Use Throttle\n2Use Current\n\n\nCalibration: 1\n\nCOMPASS_MOT_X: Motor interference compensation for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT_Y: Motor interference compensation for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT_Z: Motor interference compensation for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_ORIENT: Compass orientation\nNote: This parameter is for advanced users\nThe orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERNAL: Compass is attached via an external cable\nNote: This parameter is for advanced users\nConfigure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_DEV_ID: Compass device id\nNote: This parameter is for advanced users\nCompass device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID2: Compass2 device id\nNote: This parameter is for advanced users\nSecond compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID3: Compass3 device id\nNote: This parameter is for advanced users\nThird compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_USE2: Compass2 used for yaw\nNote: This parameter is for advanced users\nEnable or disable the secondary compass for determining heading.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_ORIENT2: Compass2 orientation\nNote: This parameter is for advanced users\nThe orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERN2: Compass2 is attached via an external cable\nNote: This parameter is for advanced users\nConfigure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_USE3: Compass3 used for yaw\nNote: This parameter is for advanced users\nEnable or disable the tertiary compass for determining heading.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_ORIENT3: Compass3 orientation\nNote: This parameter is for advanced users\nThe orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERN3: Compass3 is attached via an external cable\nNote: This parameter is for advanced users\nConfigure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_DIA_X: Compass soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA_Y: Compass soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA_Z: Compass soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI_X: Compass soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI_Y: Compass soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI_Z: Compass soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_DIA2_X: Compass2 soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_DIA3_X: Compass3 soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_CAL_FIT: Compass calibration fitness\nNote: This parameter is for advanced users\nThis controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.\n\nRange: 4 32\n\nValueMeaning\n4Very Strict\n8Strict\n16Default\n32Relaxed\n\n\nIncrement: 0.1\n\nCOMPASS_OFFS_MAX: Compass maximum offset\nNote: This parameter is for advanced users\nThis sets the maximum allowed compass offset in calibration and arming checks\n\n\nRange: 500 3000\n\n\nIncrement: 1\n\n\nCOMPASS_TYPEMASK: Compass disable driver type mask\nNote: This parameter is for advanced users\nThis is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup\n\nBitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS\n\nCOMPASS_FLTR_RNG: Range in which sample is accepted\nThis sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.\n\n\nUnits: %\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nCOMPASS_AUTO_ROT: Automatically check orientation\nWhen enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.\nValueMeaning\n0Disabled\n1CheckOnly\n2CheckAndFix\n\nCOMPASS_PRIO1_ID: Compass device id with 1st order priority\nNote: This parameter is for advanced users\nCompass device id with 1st order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_PRIO2_ID: Compass device id with 2nd order priority\nNote: This parameter is for advanced users\nCompass device id with 2nd order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_PRIO3_ID: Compass device id with 3rd order priority\nNote: This parameter is for advanced users\nCompass device id with 3rd order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_ENABLE: Enable Compass\nSetting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_SCALE: Compass1 scale factor\nScaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_SCALE2: Compass2 scale factor\nScaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_SCALE3: Compass3 scale factor\nScaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_OPTIONS: Compass options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the compass\n\nBitmask: 0:CalRequireGPS\n\nCOMPASS_DEV_ID4: Compass4 device id\nNote: This parameter is for advanced users\nExtra 4th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID5: Compass5 device id\nNote: This parameter is for advanced users\nExtra 5th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID6: Compass6 device id\nNote: This parameter is for advanced users\nExtra 6th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID7: Compass7 device id\nNote: This parameter is for advanced users\nExtra 7th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID8: Compass8 device id\nNote: This parameter is for advanced users\nExtra 8th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_CUS_ROLL: Custom orientation roll offset\nNote: This parameter is for advanced users\nCompass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASS_CUS_PIT: Custom orientation pitch offset\nNote: This parameter is for advanced users\nCompass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASS_CUS_YAW: Custom orientation yaw offset\nNote: This parameter is for advanced users\nCompass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASSPMOT Parameters\nCOMPASS_PMOT_EN: per-motor compass correction enable\nNote: This parameter is for advanced users\nThis enables per-motor compass corrections\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_PMOT_EXP: per-motor exponential correction\nNote: This parameter is for advanced users\nThis is the exponential correction for the power output of the motor for per-motor compass correction\n\n\nRange: 0 2\n\n\nIncrement: 0.01\n\n\nCOMPASS_PMOT1_X: Compass per-motor1 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor1\nCOMPASS_PMOT1_Y: Compass per-motor1 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor1\nCOMPASS_PMOT1_Z: Compass per-motor1 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor1\nCOMPASS_PMOT2_X: Compass per-motor2 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor2\nCOMPASS_PMOT2_Y: Compass per-motor2 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor2\nCOMPASS_PMOT2_Z: Compass per-motor2 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor2\nCOMPASS_PMOT3_X: Compass per-motor3 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor3\nCOMPASS_PMOT3_Y: Compass per-motor3 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor3\nCOMPASS_PMOT3_Z: Compass per-motor3 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor3\nCOMPASS_PMOT4_X: Compass per-motor4 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor4\nCOMPASS_PMOT4_Y: Compass per-motor4 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor4\nCOMPASS_PMOT4_Z: Compass per-motor4 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor4\nEAHRS Parameters\nEAHRS_TYPE: AHRS type\nType of AHRS device\nValueMeaning\n0None\n1VectorNav\n\nEAHRS_RATE: AHRS data rate\nRequested rate for AHRS device\n\nUnits: Hz\n\nEK2 Parameters\nEK2_ENABLE: Enable EKF2\nNote: This parameter is for advanced users\nThis enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nEK2_GPS_TYPE: GPS mode control\nNote: This parameter is for advanced users\nThis controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.\nValueMeaning\n0GPS 3D Vel and 2D Pos\n1GPS 2D vel and 2D pos\n2GPS 2D pos\n3No GPS\n\nEK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK2_VEL_I_GATE: GPS velocity innovation gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)\nNote: This parameter is for advanced users\nThis sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_POS_I_GATE: GPS position measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_GLITCH_RAD: GPS glitch radius gate size (m)\nNote: This parameter is for advanced users\nThis controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.\n\n\nRange: 10 100\n\n\nIncrement: 5\n\n\nUnits: m\n\n\nEK2_ALT_SOURCE: Primary altitude sensor source\nNote: This parameter is for advanced users\nPrimary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).\nValueMeaning\n0Use Baro\n1Use Range Finder\n2Use GPS\n3Use Range Beacon\n\n\nRebootRequired: True\n\nEK2_ALT_M_NSE: Altitude measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_HGT_I_GATE: Height measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_HGT_DELAY: Height measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the Height measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.01 0.5\n\n\nIncrement: 0.01\n\n\nUnits: Gauss\n\n\nEK2_MAG_CAL: Magnetometer default fusion mode\nNote: This parameter is for advanced users\nThis determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.\nValueMeaning\n0When flying\n1When manoeuvring\n2Never\n3After first climb yaw reset\n4Always\n\nEK2_MAG_I_GATE: Magnetometer measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK2_EAS_I_GATE: Airspeed measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_RNG_M_NSE: Range finder measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_RNG_I_GATE: Range finder measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_MAX_FLOW: Maximum valid optical flow rate\nNote: This parameter is for advanced users\nThis sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter\n\n\nRange: 1.0 4.0\n\n\nIncrement: 0.1\n\n\nUnits: rad/s\n\n\nEK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad/s\n\n\nEK2_FLOW_I_GATE: Optical Flow measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_FLOW_DELAY: Optical Flow measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 127\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_GYRO_P_NSE: Rate gyro noise (rad/s)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.\n\n\nRange: 0.0001 0.1\n\n\nIncrement: 0.0001\n\n\nUnits: rad/s\n\n\nEK2_ACC_P_NSE: Accelerometer noise (m/s^2)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.01\n\n\nUnits: m/s/s\n\n\nEK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)\nNote: This parameter is for advanced users\nThis state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.\n\n\nRange: 0.00001 0.001\n\n\nUnits: rad/s/s\n\n\nEK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)\nNote: This parameter is for advanced users\nThis noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.\n\n\nRange: 0.000001 0.001\n\n\nUnits: Hz\n\n\nEK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)\nNote: This parameter is for advanced users\nThis noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.\n\n\nRange: 0.00001 0.005\n\n\nUnits: m/s/s/s\n\n\nEK2_WIND_P_NSE: Wind velocity process noise (m/s^2)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK2_WIND_PSCALE: Height rate to wind process noise scaler\nNote: This parameter is for advanced users\nThis controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.\n\n\nRange: 0.0 1.0\n\n\nIncrement: 0.1\n\n\nEK2_GPS_CHECK: GPS preflight check\nNote: This parameter is for advanced users\nThis is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.\n\nBitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed\n\nEK2_IMU_MASK: Bitmask of active IMUs\nNote: This parameter is for advanced users\n1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.\n\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU\n\n\nRebootRequired: True\n\n\nEK2_CHECK_SCALE: GPS accuracy check scaler (%)\nNote: This parameter is for advanced users\nThis scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.\n\n\nRange: 50 200\n\n\nUnits: %\n\n\nEK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)\nNote: This parameter is for advanced users\nThis sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.\n\n\nRange: 0.5 50.0\n\n\nUnits: m\n\n\nEK2_YAW_M_NSE: Yaw measurement noise (rad)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad\n\n\nEK2_YAW_I_GATE: Yaw measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)\nNote: This parameter is for advanced users\nSets the time constant of the output complementary filter/predictor in centi-seconds.\n\n\nRange: 10 50\n\n\nIncrement: 5\n\n\nUnits: cs\n\n\nEK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK2_RNG_USE_HGT: Range finder switch height percentage\nNote: This parameter is for advanced users\nRange finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.\n\n\nRange: -1 70\n\n\nIncrement: 1\n\n\nUnits: %\n\n\nEK2_TERR_GRAD: Maximum terrain gradient\nNote: This parameter is for advanced users\nSpecifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.\n\n\nRange: 0 0.2\n\n\nIncrement: 0.01\n\n\nEK2_BCN_M_NSE: Range beacon measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_BCN_I_GTE: Range beacon measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_BCN_DELAY: Range beacon measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 127\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_RNG_USE_SPD: Range finder max ground speed\nNote: This parameter is for advanced users\nThe range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.\n\n\nRange: 2.0 6.0\n\n\nIncrement: 0.5\n\n\nUnits: m/s\n\n\nEK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion\nNote: This parameter is for advanced users\n1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction\nNote: This parameter is for advanced users\nWhen a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).\n\n\nBitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position\n\n\nRebootRequired: True\n\n\nEK2_FLOW_USE: Optical flow use bitmask\nNote: This parameter is for advanced users\nControls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.\nValueMeaning\n0None\n1Navigation\n2Terrain\n\n\nRebootRequired: True\n\nEK2_MAG_EF_LIM: EarthField error limit\nNote: This parameter is for advanced users\nThis limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.\n\n\nRange: 0 500\n\n\nUnits: mGauss\n\n\nEK2_HRT_FILT: Height rate filter crossover frequency\nSpecifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.\n\n\nRange: 0.1 30.0\n\n\nUnits: Hz\n\n\nRebootRequired: False\n\n\nEK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. \n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed\nNote: This parameter is for advanced users\nSets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.\n\n\nRange: 1 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nEK3 Parameters\nEK3_ENABLE: Enable EKF3\nNote: This parameter is for advanced users\nThis enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nEK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VEL_I_GATE: GPS velocity innovation gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)\nNote: This parameter is for advanced users\nThis sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_POS_I_GATE: GPS position measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_GLITCH_RAD: GPS glitch radius gate size (m)\nNote: This parameter is for advanced users\nThis controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.\n\n\nRange: 10 100\n\n\nIncrement: 5\n\n\nUnits: m\n\n\nEK3_ALT_M_NSE: Altitude measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_HGT_I_GATE: Height measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_HGT_DELAY: Height measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the Height measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.01 0.5\n\n\nIncrement: 0.01\n\n\nUnits: Gauss\n\n\nEK3_MAG_CAL: Magnetometer default fusion mode\nNote: This parameter is for advanced users\nThis determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.\nValueMeaning\n0When flying\n1When manoeuvring\n2Never\n3After first climb yaw reset\n4Always\n5Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)\n6External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)\n\n\nRebootRequired: True\n\nEK3_MAG_I_GATE: Magnetometer measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_EAS_I_GATE: Airspeed measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_RNG_M_NSE: Range finder measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_RNG_I_GATE: Range finder measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_MAX_FLOW: Maximum valid optical flow rate\nNote: This parameter is for advanced users\nThis sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter\n\n\nRange: 1.0 4.0\n\n\nIncrement: 0.1\n\n\nUnits: rad/s\n\n\nEK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad/s\n\n\nEK3_FLOW_I_GATE: Optical Flow measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_FLOW_DELAY: Optical Flow measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_GYRO_P_NSE: Rate gyro noise (rad/s)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.\n\n\nRange: 0.0001 0.1\n\n\nIncrement: 0.0001\n\n\nUnits: rad/s\n\n\nEK3_ACC_P_NSE: Accelerometer noise (m/s^2)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.01\n\n\nUnits: m/s/s\n\n\nEK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)\nNote: This parameter is for advanced users\nThis state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.\n\n\nRange: 0.00001 0.001\n\n\nUnits: rad/s/s\n\n\nEK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)\nNote: This parameter is for advanced users\nThis noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.\n\n\nRange: 0.00001 0.005\n\n\nUnits: m/s/s/s\n\n\nEK3_WIND_P_NSE: Wind velocity process noise (m/s^2)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.\n\n\nRange: 0.01 2.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_WIND_PSCALE: Height rate to wind process noise scaler\nNote: This parameter is for advanced users\nThis controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.\n\n\nRange: 0.0 2.0\n\n\nIncrement: 0.1\n\n\nEK3_GPS_CHECK: GPS preflight check\nNote: This parameter is for advanced users\nThis is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.\n\nBitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed\n\nEK3_IMU_MASK: Bitmask of active IMUs\nNote: This parameter is for advanced users\n1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.\n\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU\n\n\nRebootRequired: True\n\n\nEK3_CHECK_SCALE: GPS accuracy check scaler (%)\nNote: This parameter is for advanced users\nThis scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.\n\n\nRange: 50 200\n\n\nUnits: %\n\n\nEK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)\nNote: This parameter is for advanced users\nThis sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.\n\n\nRange: 0.5 50.0\n\n\nUnits: m\n\n\nEK3_BETA_MASK: Bitmask controlling sidelip angle fusion\nNote: This parameter is for advanced users\n1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.\n\n\nBitmask: 0:Always,1:WhenNoYawSensor\n\n\nRebootRequired: True\n\n\nEK3_YAW_M_NSE: Yaw measurement noise (rad)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad\n\n\nEK3_YAW_I_GATE: Yaw measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)\nNote: This parameter is for advanced users\nSets the time constant of the output complementary filter/predictor in centi-seconds.\n\n\nRange: 10 50\n\n\nIncrement: 5\n\n\nUnits: cs\n\n\nEK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK3_RNG_USE_HGT: Range finder switch height percentage\nNote: This parameter is for advanced users\nRange finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.\n\n\nRange: -1 70\n\n\nIncrement: 1\n\n\nUnits: %\n\n\nEK3_TERR_GRAD: Maximum terrain gradient\nNote: This parameter is for advanced users\nSpecifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference\n\n\nRange: 0 0.2\n\n\nIncrement: 0.01\n\n\nEK3_BCN_M_NSE: Range beacon measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_BCN_I_GTE: Range beacon measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_BCN_DELAY: Range beacon measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the range beacon measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_RNG_USE_SPD: Range finder max ground speed\nNote: This parameter is for advanced users\nThe range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.\n\n\nRange: 2.0 6.0\n\n\nIncrement: 0.5\n\n\nUnits: m/s\n\n\nEK3_ACC_BIAS_LIM: Accelerometer bias limit\nNote: This parameter is for advanced users\nThe accelerometer bias state will be limited to +- this value\n\n\nRange: 0.5 2.5\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion\nNote: This parameter is for advanced users\n1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction\nNote: This parameter is for advanced users\nWhen a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).\n\n\nBitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position\n\n\nRebootRequired: True\n\n\nEK3_VIS_VERR_MIN: Visual odometry minimum velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.\n\n\nRange: 0.05 0.5\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VIS_VERR_MAX: Visual odometry maximum velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_WENC_VERR: Wheel odometry velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_FLOW_USE: Optical flow use bitmask\nNote: This parameter is for advanced users\nControls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.\nValueMeaning\n0None\n1Navigation\n2Terrain\n\n\nRebootRequired: True\n\nEK3_HRT_FILT: Height rate filter crossover frequency\nSpecifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.\n\n\nRange: 0.1 30.0\n\n\nUnits: Hz\n\n\nRebootRequired: False\n\n\nEK3_MAG_EF_LIM: EarthField error limit\nNote: This parameter is for advanced users\nThis limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.\n\n\nRange: 0 500\n\n\nUnits: mGauss\n\n\nEK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. \n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed\nNote: This parameter is for advanced users\nSets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.\n\n\nRange: 1 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nEK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold\nNote: This parameter is for advanced users\nlanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences\n\n\nRange: 0.05 1\n\n\nIncrement: 0.05\n\n\nEK3_AFFINITY: EKF3 Sensor Affinity Options\nNote: This parameter is for advanced users\nThese options control the affinity between sensor instances and EKF cores\n\n\nBitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity\n\n\nRebootRequired: True\n\n\nEK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag\nNote: This parameter is for advanced users\nRatio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.\n\n\nRange: 0.0 1000.0\n\n\nUnits: kg/m/m\n\n\nEK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag\nNote: This parameter is for advanced users\nRatio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.\n\n\nRange: 50.0 1000.0\n\n\nUnits: kg/m/m\n\n\nEK3_DRAG_M_NSE: Observation noise for drag acceleration\nNote: This parameter is for advanced users\nThis sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters\n\n\nRange: 0.1 2.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_DRAG_MCOEF: Momentum coefficient for propeller drag\nNote: This parameter is for advanced users\nThis parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.\n\n\nRange: 0.0 1.0\n\n\nIncrement: 0.01\n\n\nUnits: 1/s\n\n\nEK3_OGNM_TEST_SF: On ground not moving test scale factor\nNote: This parameter is for advanced users\nThis parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.\n\n\nRange: 1.0 10.0\n\n\nIncrement: 0.5\n\n\nEK3_GND_EFF_DZ: Baro height ground effect dead zone\nNote: This parameter is for advanced users\nThis parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. \n\n\nRange: 0.0 10.0\n\n\nIncrement: 0.5\n\n\nEK3_PRIMARY: Primary core number\nNote: This parameter is for advanced users\nThe core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.\n\n\nRange: 0 2\n\n\nIncrement: 1\n\n\nEK3SRC Parameters\nEK3_SRC1_POSXY: Position Horizontal Source (Primary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Primary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_VELXY: Velocity Horizontal Source\nNote: This parameter is for advanced users\nVelocity Horizontal Source\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC1_POSZ: Position Vertical Source\nNote: This parameter is for advanced users\nPosition Vertical Source\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_VELZ: Velocity Vertical Source\nNote: This parameter is for advanced users\nVelocity Vertical Source\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_YAW: Yaw Source\nNote: This parameter is for advanced users\nYaw Source\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC2_POSXY: Position Horizontal Source (Secondary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)\nNote: This parameter is for advanced users\nVelocity Horizontal Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC2_POSZ: Position Vertical Source (Secondary)\nNote: This parameter is for advanced users\nPosition Vertical Source (Secondary)\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_VELZ: Velocity Vertical Source (Secondary)\nNote: This parameter is for advanced users\nVelocity Vertical Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_YAW: Yaw Source (Secondary)\nNote: This parameter is for advanced users\nYaw Source (Secondary)\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC3_POSXY: Position Horizontal Source (Tertiary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)\nNote: This parameter is for advanced users\nVelocity Horizontal Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC3_POSZ: Position Vertical Source (Tertiary)\nNote: This parameter is for advanced users\nPosition Vertical Source (Tertiary)\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)\nNote: This parameter is for advanced users\nVelocity Vertical Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_YAW: Yaw Source (Tertiary)\nNote: This parameter is for advanced users\nYaw Source (Tertiary)\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC_OPTIONS: EKF Source Options\nNote: This parameter is for advanced users\nEKF Source Options\n\nBitmask: 0:FuseAllVelocities\n\nFENCE Parameters\nFENCE_ENABLE: Fence enable/disable\nAllows you to enable (1) or disable (0) the fence functionality\nValueMeaning\n0Disabled\n1Enabled\n\nFENCE_TYPE: Fence Type\nEnabled fence types held as bitmask\n\nBitmask: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude\n\nFENCE_ACTION: Fence Action\nWhat action should be taken when fence is breached\nValueMeaning\n0Report Only\n1RTL or Land\n\nFENCE_ALT_MAX: Fence Maximum Altitude\nMaximum altitude allowed before geofence triggers\n\n\nUnits: m\n\n\nRange: 10 1000\n\n\nIncrement: 1\n\n\nFENCE_RADIUS: Circular Fence Radius\nCircle fence radius which when breached will cause an RTL\n\n\nUnits: m\n\n\nRange: 30 10000\n\n\nFENCE_MARGIN: Fence Margin\nDistance that autopilot's should maintain from the fence to avoid a breach\n\n\nUnits: m\n\n\nRange: 1 10\n\n\nFENCE_TOTAL: Fence polygon point total\nNumber of polygon points saved in eeprom (do not update manually)\n\nRange: 1 20\n\nFENCE_ALT_MIN: Fence Minimum Altitude\nMinimum altitude allowed before geofence triggers\n\n\nUnits: m\n\n\nRange: -100 100\n\n\nIncrement: 1\n\n\nFFT Parameters\nFFT_ENABLE: Enable\nNote: This parameter is for advanced users\nEnable Gyro FFT analyser\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nFFT_MINHZ: Minimum Frequency\nNote: This parameter is for advanced users\nLower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.\n\n\nRange: 20 400\n\n\nUnits: Hz\n\n\nFFT_MAXHZ: Maximum Frequency\nNote: This parameter is for advanced users\nUpper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.\n\n\nRange: 20 495\n\n\nUnits: Hz\n\n\nFFT_SAMPLE_MODE: Sample Mode\nNote: This parameter is for advanced users\nSampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.\n\n\nRange: 0 4\n\n\nRebootRequired: True\n\n\nFFT_WINDOW_SIZE: FFT window size\nNote: This parameter is for advanced users\nSize of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.\n\n\nRange: 32 1024\n\n\nRebootRequired: True\n\n\nFFT_WINDOW_OLAP: FFT window overlap\nNote: This parameter is for advanced users\nPercentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.\n\n\nRange: 0 0.9\n\n\nRebootRequired: True\n\n\nFFT_FREQ_HOVER: FFT learned hover frequency\nNote: This parameter is for advanced users\nThe learned hover noise frequency\n\nRange: 0 250\n\nFFT_THR_REF: FFT learned thrust reference\nNote: This parameter is for advanced users\nFFT learned thrust reference for the hover frequency and FFT minimum frequency.\n\nRange: 0.01 0.9\n\nFFT_SNR_REF: FFT SNR reference threshold\nNote: This parameter is for advanced users\nFFT SNR reference threshold in dB at which a signal is determined to be present.\n\nRange: 0.0 100.0\n\nFFT_ATT_REF: FFT attenuation for bandwidth calculation\nNote: This parameter is for advanced users\nFFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.\n\nRange: 0 100\n\nFFT_BW_HOVER: FFT learned bandwidth at hover\nNote: This parameter is for advanced users\nFFT learned bandwidth at hover for the attenuation frequencies.\n\nRange: 0 200\n\nFFT_HMNC_FIT: FFT harmonic fit frequency threshold\nNote: This parameter is for advanced users\nFFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.\n\n\nRange: 0 100\n\n\nRebootRequired: True\n\n\nFFT_HMNC_PEAK: FFT harmonic peak target\nNote: This parameter is for advanced users\nThe FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).\nValueMeaning\n0Auto\n1Center Frequency\n2Lower-Shoulder Frequency\n3Upper-Shoulder Frequency\n4Roll-Axis\n5Pitch-Axis\n\nFLOW Parameters\nFLOW_TYPE: Optical flow sensor type\nOptical flow sensor type\nValueMeaning\n0None\n1PX4Flow\n2Pixart\n3Bebop\n4CXOF\n5MAVLink\n6UAVCAN\n7MSP\n8UPFLOW\n\n\nRebootRequired: True\n\nFLOW_FXSCALER: X axis optical flow scale factor correction\nThis sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.\n\n\nRange: -200 +200\n\n\nIncrement: 1\n\n\nFLOW_FYSCALER: Y axis optical flow scale factor correction\nThis sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.\n\n\nRange: -200 +200\n\n\nIncrement: 1\n\n\nFLOW_ORIENT_YAW: Flow sensor yaw alignment\nSpecifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.\n\n\nUnits: cdeg\n\n\nRange: -17999 +18000\n\n\nIncrement: 10\n\n\nFLOW_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_ADDR: Address on the bus\nNote: This parameter is for advanced users\nThis is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.\n\nRange: 0 127\n\nFRSKY Parameters\nFRSKY_UPLINK_ID: Uplink sensor id\nNote: This parameter is for advanced users\nChange the uplink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK1_ID: First downlink sensor id\nNote: This parameter is for advanced users\nChange the first extra downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK2_ID: Second downlink sensor id\nNote: This parameter is for advanced users\nChange the second extra downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK_ID: Default downlink sensor id\nNote: This parameter is for advanced users\nChange the default downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n2727\n\nGEN Parameters\nGEN_TYPE: Generator type\nGenerator type\nValueMeaning\n0Disabled\n1IE 650w 800w Fuel Cell\n2IE 2.4kW Fuel Cell\n3Richenpower\n\n\nRebootRequired: True\n\nGPS Parameters\nGPS_TYPE: 1st GPS type\nNote: This parameter is for advanced users\nGPS type of 1st GPS\nValueMeaning\n0None\n1AUTO\n2uBlox\n3MTK\n4MTK19\n5NMEA\n6SiRF\n7HIL\n8SwiftNav\n9UAVCAN\n10SBF\n11GSOF\n13ERB\n14MAV\n15NOVA\n16HemisphereNMEA\n17uBlox-MovingBaseline-Base\n18uBlox-MovingBaseline-Rover\n19MSP\n20AllyStar\n21ExternalAHRS\n\n\nRebootRequired: True\n\nGPS_TYPE2: 2nd GPS type\nNote: This parameter is for advanced users\nGPS type of 2nd GPS\nValueMeaning\n0None\n1AUTO\n2uBlox\n3MTK\n4MTK19\n5NMEA\n6SiRF\n7HIL\n8SwiftNav\n9UAVCAN\n10SBF\n11GSOF\n13ERB\n14MAV\n15NOVA\n16HemisphereNMEA\n17uBlox-MovingBaseline-Base\n18uBlox-MovingBaseline-Rover\n19MSP\n20AllyStar\n21ExternalAHRS\n\n\nRebootRequired: True\n\nGPS_NAVFILTER: Navigation filter setting\nNote: This parameter is for advanced users\nNavigation filter engine setting\nValueMeaning\n0Portable\n2Stationary\n3Pedestrian\n4Automotive\n5Sea\n6Airborne1G\n7Airborne2G\n8Airborne4G\n\nGPS_AUTO_SWITCH: Automatic Switchover Setting\nNote: This parameter is for advanced users\nAutomatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary\nValueMeaning\n0Use primary\n1UseBest\n2Blend\n4Use primary if 3D fix or better\n\nGPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS\nNote: This parameter is for advanced users\nSets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.\nValueMeaning\n0Any\n50FloatRTK\n100IntegerRTK\n\n\nRebootRequired: True\n\nGPS_SBAS_MODE: SBAS Mode\nNote: This parameter is for advanced users\nThis sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.\nValueMeaning\n0Disabled\n1Enabled\n2NoChange\n\nGPS_MIN_ELEV: Minimum elevation\nNote: This parameter is for advanced users\nThis sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.\n\n\nRange: -100 90\n\n\nUnits: deg\n\n\nGPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets\nNote: This parameter is for advanced users\nThe GGS can send raw serial packets to inject data to multiple GPSes.\nValueMeaning\n0send to first GPS\n1send to 2nd GPS\n127send to all\n\nGPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask\nNote: This parameter is for advanced users\nMasked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged\nValueMeaning\n0None (0x0000)\n-1All (0xFFFF)\n-256External only (0xFF00)\n\nGPS_RAW_DATA: Raw data logging\nNote: This parameter is for advanced users\nHandles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming\nValueMeaning\n0Ignore\n1Always log\n2Stop logging when disarmed (SBF only)\n5Only log every five samples (uBlox only)\n\n\nRebootRequired: True\n\nGPS_GNSS_MODE: GNSS system configuration\nNote: This parameter is for advanced users\nBitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)\n\nBitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS\n\nGPS_SAVE_CFG: Save GPS configuration\nNote: This parameter is for advanced users\nDetermines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.\nValueMeaning\n0Do not save config\n1Save config\n2Save only when needed\n\nGPS_GNSS_MODE2: GNSS system configuration\nNote: This parameter is for advanced users\nBitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)\n\nBitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS\n\nGPS_AUTO_CONFIG: Automatic GPS configuration\nNote: This parameter is for advanced users\nControls if the autopilot should automatically configure the GPS based on the parameters and default settings\nValueMeaning\n0Disables automatic configuration\n1Enable automatic configuration\n\nGPS_RATE_MS: GPS update rate in milliseconds\nNote: This parameter is for advanced users\nControls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.\n\nUnits: ms\n\nValueMeaning\n10010Hz\n1258Hz\n2005Hz\n\n\nRange: 50 200\n\nGPS_RATE_MS2: GPS 2 update rate in milliseconds\nNote: This parameter is for advanced users\nControls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.\n\nUnits: ms\n\nValueMeaning\n10010Hz\n1258Hz\n2005Hz\n\n\nRange: 50 200\n\nGPS_POS1_X: Antenna X position offset\nNote: This parameter is for advanced users\nX position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS1_Y: Antenna Y position offset\nNote: This parameter is for advanced users\nY position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS1_Z: Antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_X: Antenna X position offset\nNote: This parameter is for advanced users\nX position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_Y: Antenna Y position offset\nNote: This parameter is for advanced users\nY position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_Z: Antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_DELAY_MS: GPS delay in milliseconds\nNote: This parameter is for advanced users\nControls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nRebootRequired: True\n\n\nGPS_DELAY_MS2: GPS 2 delay in milliseconds\nNote: This parameter is for advanced users\nControls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nRebootRequired: True\n\n\nGPS_BLEND_MASK: Multi GPS Blending Mask\nNote: This parameter is for advanced users\nDetermines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)\n\nBitmask: 0:Horiz Pos,1:Vert Pos,2:Speed\n\nGPS_BLEND_TC: Blending time constant\nNote: This parameter is for advanced users\nControls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.\n\n\nUnits: s\n\n\nRange: 5.0 30.0\n\n\nGPS_DRV_OPTIONS: driver options\nNote: This parameter is for advanced users\nAdditional backend specific options\n\nBitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200\n\nGPS_COM_PORT: GPS physical COM port\nNote: This parameter is for advanced users\nThe physical COM port on the connected device, currently only applies to SBF GPS\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nGPS_COM_PORT2: GPS physical COM port\nNote: This parameter is for advanced users\nThe physical COM port on the connected device, currently only applies to SBF GPS\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nGPS_PRIMARY: Primary GPS\nNote: This parameter is for advanced users\nThis GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.\n\nIncrement: 1\n\nValueMeaning\n0FirstGPS\n1SecondGPS\n\nGPS_CAN_NODEID1: GPS Node ID 1\nNote: This parameter is for advanced users\nGPS Node id for discovered first.\n\nReadOnly: True\n\nGPS_CAN_NODEID2: GPS Node ID 2\nNote: This parameter is for advanced users\nGPS Node id for discovered second.\n\nReadOnly: True\n\nGPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID\nNote: This parameter is for advanced users\nGPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.\nGPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID\nNote: This parameter is for advanced users\nGPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.\nGPSMB1 Parameters\nGPS_MB1_TYPE: Moving base type\nNote: This parameter is for advanced users\nControls the type of moving base used if using moving base.\nValueMeaning\n0Relative to alternate GPS instance\n1RelativeToCustomBase\n\n\nRebootRequired: True\n\nGPS_MB1_OFS_X: Base antenna X position offset\nNote: This parameter is for advanced users\nX position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB1_OFS_Y: Base antenna Y position offset\nNote: This parameter is for advanced users\nY position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB1_OFS_Z: Base antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPSMB2 Parameters\nGPS_MB2_TYPE: Moving base type\nNote: This parameter is for advanced users\nControls the type of moving base used if using moving base.\nValueMeaning\n0Relative to alternate GPS instance\n1RelativeToCustomBase\n\n\nRebootRequired: True\n\nGPS_MB2_OFS_X: Base antenna X position offset\nNote: This parameter is for advanced users\nX position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB2_OFS_Y: Base antenna Y position offset\nNote: This parameter is for advanced users\nY position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB2_OFS_Z: Base antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGRIP Parameters\nGRIP_ENABLE: Gripper Enable/Disable\nGripper enable/disable\nValueMeaning\n0Disabled\n1Enabled\n\nGRIP_TYPE: Gripper Type\nGripper enable/disable\nValueMeaning\n0None\n1Servo\n2EPM\n\nGRIP_GRAB: Gripper Grab PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to Gripper to initiate grabbing the cargo\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_RELEASE: Gripper Release PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to Gripper to release the cargo\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_NEUTRAL: Neutral PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to grabber when not grabbing or releasing\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_REGRAB: Gripper Regrab interval\nNote: This parameter is for advanced users\nTime in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable\n\n\nRange: 0 255\n\n\nUnits: s\n\n\nGRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID\nRefer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface\n\nRange: 0 255\n\nINS Parameters\nINS_GYROFFS_X: Gyro offsets of X axis\nNote: This parameter is for advanced users\nGyro sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYROFFS_Y: Gyro offsets of Y axis\nNote: This parameter is for advanced users\nGyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYROFFS_Z: Gyro offsets of Z axis\nNote: This parameter is for advanced users\nGyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_X: Gyro2 offsets of X axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_Y: Gyro2 offsets of Y axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_Z: Gyro2 offsets of Z axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_X: Gyro3 offsets of X axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_Y: Gyro3 offsets of Y axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_Z: Gyro3 offsets of Z axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_X: Accelerometer scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_Y: Accelerometer scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_Z: Accelerometer scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_X: Accelerometer offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_Y: Accelerometer offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_Z: Accelerometer offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_X: Accelerometer2 scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_X: Accelerometer2 offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_X: Accelerometer3 scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_X: Accelerometer3 offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_GYRO_FILTER: Gyro filter cutoff frequency\nNote: This parameter is for advanced users\nFilter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)\n\n\nUnits: Hz\n\n\nRange: 0 256\n\n\nINS_ACCEL_FILTER: Accel filter cutoff frequency\nNote: This parameter is for advanced users\nFilter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)\n\n\nUnits: Hz\n\n\nRange: 0 256\n\n\nINS_USE: Use first IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse first IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_USE2: Use second IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse second IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_USE3: Use third IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse third IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_STILL_THRESH: Stillness threshold for detecting if we are moving\nNote: This parameter is for advanced users\nThreshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5\n\nRange: 0.05 50\n\nINS_GYR_CAL: Gyro Calibration scheme\nNote: This parameter is for advanced users\nConrols when automatic gyro calibration is performed\nValueMeaning\n0Never\n1Start-up only\n\nINS_TRIM_OPTION: Accel cal trim option\nNote: This parameter is for advanced users\nSpecifies how the accel cal routine determines the trims\nValueMeaning\n0Don't adjust the trims\n1Assume first orientation was level\n2Assume ACC_BODYFIX is perfectly aligned to the vehicle\n\nINS_ACC_BODYFIX: Body-fixed accelerometer\nNote: This parameter is for advanced users\nThe body-fixed accelerometer to be used for trim calculation\nValueMeaning\n1IMU 1\n2IMU 2\n3IMU 3\n\nINS_POS1_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS1_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS1_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS3_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -10 10\n\n\nINS_POS3_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS3_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_GYR_ID: Gyro ID\nNote: This parameter is for advanced users\nGyro sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_GYR2_ID: Gyro2 ID\nNote: This parameter is for advanced users\nGyro2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_GYR3_ID: Gyro3 ID\nNote: This parameter is for advanced users\nGyro3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC_ID: Accelerometer ID\nNote: This parameter is for advanced users\nAccelerometer sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC2_ID: Accelerometer2 ID\nNote: This parameter is for advanced users\nAccelerometer2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC3_ID: Accelerometer3 ID\nNote: This parameter is for advanced users\nAccelerometer3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_FAST_SAMPLE: Fast sampling mask\nNote: This parameter is for advanced users\nMask of IMUs to enable fast sampling on, if available\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU\n\nINS_ENABLE_MASK: IMU enable mask\nNote: This parameter is for advanced users\nBitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU\n\nINS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled\nNote: This parameter is for advanced users\nGyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.\nValueMeaning\n01kHz\n12kHz\n24kHz\n38kHz\n\n\nRebootRequired: True\n\nINS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer\nNote: This parameter is for advanced users\nTemperature that the 1st accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope\nNote: This parameter is for advanced users\nTemperature that the 1st gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer\nNote: This parameter is for advanced users\nTemperature that the 2nd accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope\nNote: This parameter is for advanced users\nTemperature that the 2nd gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer\nNote: This parameter is for advanced users\nTemperature that the 3rd accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope\nNote: This parameter is for advanced users\nTemperature that the 3rd gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCAL_OPTIONS: Options for temperature calibration\nNote: This parameter is for advanced users\nThis enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.\n\nBitmask: 0:PersistParams\n\nINSHNTCH Parameters\nINS_HNTCH_ENABLE: Harmonic Notch Filter enable\nNote: This parameter is for advanced users\nHarmonic Notch Filter enable\nValueMeaning\n0Disabled\n1Enabled\n\nINS_HNTCH_FREQ: Harmonic Notch Filter base frequency\nNote: This parameter is for advanced users\nHarmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.\n\n\nRange: 10 495\n\n\nUnits: Hz\n\n\nINS_HNTCH_BW: Harmonic Notch Filter bandwidth\nNote: This parameter is for advanced users\nHarmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.\n\n\nRange: 5 250\n\n\nUnits: Hz\n\n\nINS_HNTCH_ATT: Harmonic Notch Filter attenuation\nNote: This parameter is for advanced users\nHarmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.\n\n\nRange: 5 50\n\n\nUnits: dB\n\n\nINS_HNTCH_HMNCS: Harmonic Notch Filter harmonics\nNote: This parameter is for advanced users\nBitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.\n\n\nBitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic\n\n\nRebootRequired: True\n\n\nINS_HNTCH_REF: Harmonic Notch Filter reference value\nNote: This parameter is for advanced users\nA reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.\n\n\nRange: 0.0 1.0\n\n\nRebootRequired: True\n\n\nINS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode\nNote: This parameter is for advanced users\nHarmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.\n\nRange: 0 4\n\nValueMeaning\n0Disabled\n1Throttle\n2RPM Sensor\n3ESC Telemetry\n4Dynamic FFT\n\nINS_HNTCH_OPTS: Harmonic Notch Filter options\nNote: This parameter is for advanced users\nHarmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.\n\n\nBitmask: 0:Double notch,1:Dynamic harmonic,2:Update at loop rate\n\n\nRebootRequired: True\n\n\nINSLOG Parameters\nINS_LOG_BAT_CNT: sample count per batch\nNote: This parameter is for advanced users\nNumber of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.\n\n\nIncrement: 32\n\n\nRebootRequired: True\n\n\nINS_LOG_BAT_MASK: Sensor Bitmask\nNote: This parameter is for advanced users\nBitmap of which IMUs to log batch data for. This option takes effect on the next reboot.\n\n\nBitmask: 0:IMU1,1:IMU2,2:IMU3\n\n\nRebootRequired: True\n\n\nINS_LOG_BAT_OPT: Batch Logging Options Mask\nNote: This parameter is for advanced users\nOptions for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.\n\nBitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering\n\nINS_LOG_BAT_LGIN: logging interval\nInterval between pushing samples to the AP_Logger log\n\n\nUnits: ms\n\n\nIncrement: 10\n\n\nINS_LOG_BAT_LGCT: logging count\nNumber of samples to push to count every INS_LOG_BAT_LGIN\n\nIncrement: 1\n\nINSNOTCH Parameters\nINS_NOTCH_ENABLE: Enable\nNote: This parameter is for advanced users\nEnable notch filter\nValueMeaning\n0Disabled\n1Enabled\n\nINS_NOTCH_ATT: Attenuation\nNote: This parameter is for advanced users\nNotch attenuation in dB\n\n\nRange: 5 30\n\n\nUnits: dB\n\n\nINS_NOTCH_FREQ: Frequency\nNote: This parameter is for advanced users\nNotch center frequency in Hz\n\n\nRange: 10 400\n\n\nUnits: Hz\n\n\nINS_NOTCH_BW: Bandwidth\nNote: This parameter is for advanced users\nNotch bandwidth in Hz\n\n\nRange: 5 100\n\n\nUnits: Hz\n\n\nINSTCALn Parameters\nINS_TCALn_ENABLE: Enable temperature calibration\nNote: This parameter is for advanced users\nEnable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot\nValueMeaning\n0Disabled\n1Enabled\n2LearnCalibration\n\n\nRebootRequired: True\n\nINS_TCALn_TMIN: Temperature calibration min\nNote: This parameter is for advanced users\nThe minimum temperature that the calibration is valid for\n\n\nRange: -70 80\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCALn_TMAX: Temperature calibration max\nNote: This parameter is for advanced users\nThe maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration\n\n\nRange: -70 80\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCALn_ACC1_X: Accelerometer 1st order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_X: Accelerometer 2nd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_X: Accelerometer 3rd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_X: Gyroscope 1st order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_X: Gyroscope 2nd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_X: Gyroscope 3rd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nLEAK Parameters\nLEAK1_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Built-In\n\n\nRebootRequired: True\n\nLEAK1_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLEAK2_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Leak1\n\n\nRebootRequired: True\n\nLEAK2_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLEAK3_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Leak1\n\n\nRebootRequired: True\n\nLEAK3_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLOG Parameters\nLOG_BACKEND_TYPE: AP_Logger Backend Storage type\nBitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.\n\nBitmask: 0:File,1:MAVLink,2:Block\n\nLOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)\nThe File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce \"gaps\" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.\nLOG_DISARMED: Enable logging while disarmed\nIf LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_REPLAY: Enable logging of information needed for Replay\nIf LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_FILE_DSRMROT: Stop logging to current file on disarm\nWhen set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size\nNote: This parameter is for advanced users\nMaximum amount of memory to allocate to AP_Logger-over-mavlink\n\nUnits: kB\n\nLOG_FILE_TIMEOUT: Timeout before giving up on file writes\nThis controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.\n\nUnits: s\n\nLOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space\nSet this such that the free space is larger than your largest typical flight log\n\n\nUnits: MB\n\n\nRange: 10 1000\n\n\nLOIT Parameters\nLOIT_ANG_MAX: Loiter Angle Max\nNote: This parameter is for advanced users\nLoiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX\n\n\nUnits: deg\n\n\nRange: 0 45\n\n\nIncrement: 1\n\n\nLOIT_SPEED: Loiter Horizontal Maximum Speed\nDefines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode\n\n\nUnits: cm/s\n\n\nRange: 20 3500\n\n\nIncrement: 50\n\n\nLOIT_ACC_MAX: Loiter maximum correction acceleration\nNote: This parameter is for advanced users\nLoiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.\n\n\nUnits: cm/s/s\n\n\nRange: 100 981\n\n\nIncrement: 1\n\n\nLOIT_BRK_ACCEL: Loiter braking acceleration\nNote: This parameter is for advanced users\nLoiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.\n\n\nUnits: cm/s/s\n\n\nRange: 25 250\n\n\nIncrement: 1\n\n\nLOIT_BRK_JERK: Loiter braking jerk\nNote: This parameter is for advanced users\nLoiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.\n\n\nUnits: cm/s/s/s\n\n\nRange: 500 5000\n\n\nIncrement: 1\n\n\nLOIT_BRK_DELAY: Loiter brake start delay (in seconds)\nNote: This parameter is for advanced users\nLoiter brake start delay (in seconds)\n\n\nUnits: s\n\n\nRange: 0 2\n\n\nIncrement: 0.1\n\n\nMIS Parameters\nMIS_TOTAL: Total mission commands\nNote: This parameter is for advanced users\nThe number of mission mission items that has been loaded by the ground station. Do not change this manually.\n\n\nRange: 0 32766\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nMIS_RESTART: Mission Restart when entering Auto mode\nNote: This parameter is for advanced users\nControls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)\nValueMeaning\n0Resume Mission\n1Restart Mission\n\nMIS_OPTIONS: Mission options bitmask\nNote: This parameter is for advanced users\nBitmask of what options to use in missions.\n\nBitmask: 0:Clear Mission on reboot\n\nMNT Parameters\nMNT_TYPE: Mount Type\nMount Type (None, Servo or MAVLink)\nValueMeaning\n0None\n1Servo\n23DR Solo\n3Alexmos Serial\n4SToRM32 MAVLink\n5SToRM32 Serial\n\n\nRebootRequired: True\n\nMNT_DEFLT_MODE: Mount default operating mode\nMount default operating mode on startup and after control is returned from autopilot\nValueMeaning\n0Retracted\n1Neutral\n2MavLink Targeting\n3RC Targeting\n4GPS Point\n\nMNT_RETRACT_X: Mount roll angle when in retracted position\nMount roll angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position\nMount tilt/pitch angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_RETRACT_Z: Mount yaw/pan angle when in retracted position\nMount yaw/pan angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_X: Mount roll angle when in neutral position\nMount roll angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position\nMount tilt/pitch angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position\nMount pan/yaw angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_STAB_ROLL: Stabilize mount's roll angle\nenable roll stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_STAB_TILT: Stabilize mount's pitch/tilt angle\nenable tilt/pitch stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_STAB_PAN: Stabilize mount pan/yaw angle\nenable pan/yaw stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_RC_IN_ROLL: roll RC input channel\n0 for none, any other for the RC channel to be used to control roll movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_ROL: Minimum roll angle\nMinimum physical roll angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_ROL: Maximum roll angle\nMaximum physical roll angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_RC_IN_TILT: tilt (pitch) RC input channel\n0 for none, any other for the RC channel to be used to control tilt (pitch) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_TIL: Minimum tilt angle\nMinimum physical tilt (pitch) angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_TIL: Maximum tilt angle\nMaximum physical tilt (pitch) angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_RC_IN_PAN: pan (yaw) RC input channel\n0 for none, any other for the RC channel to be used to control pan (yaw) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_PAN: Minimum pan angle\nMinimum physical pan (yaw) angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_PAN: Maximum pan angle\nMaximum physical pan (yaw) angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_JSTICK_SPD: mount joystick speed\n0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nMNT_LEAD_RLL: Roll stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT_LEAD_PTCH: Pitch stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_DEFLT_MODE: Mount default operating mode\nMount default operating mode on startup and after control is returned from autopilot\nValueMeaning\n0Retracted\n1Neutral\n2MavLink Targeting\n3RC Targeting\n4GPS Point\n\nMNT2_RETRACT_X: Mount2 roll angle when in retracted position\nMount2 roll angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position\nMount2 tilt/pitch angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position\nMount2 yaw/pan angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_X: Mount2 roll angle when in neutral position\nMount2 roll angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position\nMount2 tilt/pitch angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position\nMount2 pan/yaw angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_STAB_ROLL: Stabilize Mount2's roll angle\nenable roll stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle\nenable tilt/pitch stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_STAB_PAN: Stabilize mount2 pan/yaw angle\nenable pan/yaw stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_RC_IN_ROLL: Mount2's roll RC input channel\n0 for none, any other for the RC channel to be used to control roll movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_ROL: Mount2's minimum roll angle\nMount2's minimum physical roll angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_ROL: Mount2's maximum roll angle\nMount2's maximum physical roll angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel\n0 for none, any other for the RC channel to be used to control tilt (pitch) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_TIL: Mount2's minimum tilt angle\nMount2's minimum physical tilt (pitch) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_TIL: Mount2's maximum tilt angle\nMount2's maximum physical tilt (pitch) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel\n0 for none, any other for the RC channel to be used to control pan (yaw) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_PAN: Mount2's minimum pan angle\nMount2's minimum physical pan (yaw) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_PAN: Mount2's maximum pan angle\nMOunt2's maximum physical pan (yaw) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_LEAD_RLL: Mount2's Roll stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_TYPE: Mount2 Type\nMount Type (None, Servo or MAVLink)\nValueMeaning\n0None\n1Servo\n23DR Solo\n3Alexmos Serial\n4SToRM32 MAVLink\n5SToRM32 Serial\n\nMOT Parameters\nMOT_1_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_2_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_3_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_4_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_5_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_6_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_7_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_8_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_FV_CPLNG_K: Forward/vertical to pitch decoupling factor\nUsed to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal\n\n\nRange: 0.0 1.5\n\n\nIncrement: 0.1\n\n\nMOT_9_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_10_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_11_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_12_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_YAW_HEADROOM: Matrix Yaw Min\nNote: This parameter is for advanced users\nYaw control is given at least this pwm in microseconds range\n\n\nRange: 0 500\n\n\nUnits: PWM\n\n\nMOT_THST_EXPO: Thrust Curve Expo\nNote: This parameter is for advanced users\nMotor thrust curve exponent (0.0 for linear to 1.0 for second order curve)\n\nRange: -1.0 1.0\n\nMOT_SPIN_MAX: Motor Spin maximum\nNote: This parameter is for advanced users\nPoint at which the thrust saturates expressed as a number from 0 to 1 in the entire output range\n\nValues: 0.9:Low,0.95:Default,1.0:High\n\nMOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage\nNote: This parameter is for advanced users\nBattery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled\n\n\nRange: 6 53\n\n\nUnits: V\n\n\nMOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage\nNote: This parameter is for advanced users\nBattery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled\n\n\nRange: 6 42\n\n\nUnits: V\n\n\nMOT_BAT_CURR_MAX: Motor Current Max\nNote: This parameter is for advanced users\nMaximum current over which maximum throttle is limited (0 = Disabled)\n\n\nRange: 0 200\n\n\nUnits: A\n\n\nMOT_PWM_TYPE: Output PWM type\nNote: This parameter is for advanced users\nThis selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output\nValueMeaning\n0Normal\n1OneShot\n2OneShot125\n3Brushed\n4DShot150\n5DShot300\n6DShot600\n7DShot1200\n\n\nRebootRequired: True\n\nMOT_PWM_MIN: PWM output minimum\nNote: This parameter is for advanced users\nThis sets the min PWM output value in microseconds that will ever be output to the motors\n\n\nUnits: PWM\n\n\nRange: 0 2000\n\n\nMOT_PWM_MAX: PWM output maximum\nNote: This parameter is for advanced users\nThis sets the max PWM value in microseconds that will ever be output to the motors\n\n\nUnits: PWM\n\n\nRange: 0 2000\n\n\nMOT_SPIN_MIN: Motor Spin minimum\nNote: This parameter is for advanced users\nPoint at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.\n\nValues: 0.0:Low,0.15:Default,0.3:High\n\nMOT_SPIN_ARM: Motor Spin armed\nNote: This parameter is for advanced users\nPoint at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.\n\nValues: 0.0:Low,0.1:Default,0.2:High\n\nMOT_BAT_CURR_TC: Motor Current Max Time Constant\nNote: This parameter is for advanced users\nTime constant used to limit the maximum current\n\n\nRange: 0 10\n\n\nUnits: s\n\n\nMOT_THST_HOVER: Thrust Hover Value\nNote: This parameter is for advanced users\nMotor thrust needed to hover expressed as a number from 0 to 1\n\nRange: 0.2 0.8\n\nMOT_HOVER_LEARN: Hover Value Learning\nNote: This parameter is for advanced users\nEnable/Disable automatic learning of hover throttle\nValueMeaning\n0Disabled\n\nMOT_SAFE_DISARM: Motor PWM output disabled when disarmed\nNote: This parameter is for advanced users\nDisables motor PWM output when disarmed\nValueMeaning\n0PWM enabled while disarmed\n1PWM disabled while disarmed\n\nMOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle\nYaw servo's maximum lean angle\n\n\nRange: 5 80\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nMOT_SPOOL_TIME: Spool up time\nNote: This parameter is for advanced users\nTime in seconds to spool up the motors from zero to min throttle. \n\n\nRange: 0 2\n\n\nUnits: s\n\n\nIncrement: 0.1\n\n\nMOT_BOOST_SCALE: Motor boost scale\nNote: This parameter is for advanced users\nBooster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.\n\n\nRange: 0 5\n\n\nIncrement: 0.1\n\n\nMOT_BAT_IDX: Battery compensation index\nNote: This parameter is for advanced users\nWhich battery monitor should be used for doing compensation\nValueMeaning\n0First battery\n1Second battery\n\nMOT_SLEW_UP_TIME: Output slew time for increasing throttle\nNote: This parameter is for advanced users\nTime in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.\n\n\nRange: 0 .5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMOT_SLEW_DN_TIME: Output slew time for decreasing throttle\nNote: This parameter is for advanced users\nTime in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.\n\n\nRange: 0 .5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.\nNote: This parameter is for advanced users\nTime taken to disable and enable the motor PWM output when disarmed and armed.\n\n\nRange: 0 5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMSP Parameters\nMSP_OSD_NCELLS: Cell count override\nUsed for average cell voltage calculation\nValueMeaning\n0Auto\n11\n22\n33\n44\n55\n66\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n\nMSP_OPTIONS: MSP OSD Options\nA bitmask to set some MSP specific options\n\nBitmask: 0:EnableTelemetryMode\n\nNTF Parameters\nNTF_LED_BRIGHT: LED Brightness\nNote: This parameter is for advanced users\nSelect the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.\nValueMeaning\n0Off\n1Low\n2Medium\n3High\n\nNTF_BUZZ_TYPES: Buzzer Driver Types\nNote: This parameter is for advanced users\nControls what types of Buzzer will be enabled\n\nBitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN\n\nNTF_LED_OVERRIDE: Specifies colour source for the RGBLed\nNote: This parameter is for advanced users\nSpecifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially \"Green\" is disarmed (safe-to-approach), \"Red\" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.\nValueMeaning\n0Standard\n1MAVLink/Scripting/AP_Periph\n2OutbackChallenge\n3TrafficLight\n\nNTF_DISPLAY_TYPE: Type of on-board I2C display\nNote: This parameter is for advanced users\nThis sets up the type of on-board I2C display. Disabled by default.\nValueMeaning\n0Disable\n1ssd1306\n2sh1106\n10SITL\n\nNTF_OREO_THEME: OreoLED Theme\nNote: This parameter is for advanced users\nEnable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme\nValueMeaning\n0Disabled\n1Aircraft\n2Rover\n\nNTF_BUZZ_PIN: Buzzer pin\nNote: This parameter is for advanced users\nEnables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!\nValueMeaning\n0Disabled\n\nNTF_LED_TYPES: LED Driver Types\nNote: This parameter is for advanced users\nControls what types of LEDs will be enabled\n\nBitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot\n\nNTF_BUZZ_ON_LVL: Buzzer-on pin logic level\nNote: This parameter is for advanced users\nSpecifies pin level that indicates buzzer should play\nValueMeaning\n0LowIsOn\n1HighIsOn\n\nNTF_BUZZ_VOLUME: Buzzer volume\nControl the volume of the buzzer\n\n\nRange: 0 100\n\n\nUnits: %\n\n\nNTF_LED_LEN: Serial LED String Length\nNote: This parameter is for advanced users\nThe number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)\n\n\nRange: 1 32\n\n\nRebootRequired: True\n\n\nPRX Parameters\nPRX_TYPE: Proximity type\nWhat type of proximity sensor is connected\nValueMeaning\n0None\n7LightwareSF40c\n1LightWareSF40C-legacy\n2MAVLink\n3TeraRangerTower\n4RangeFinder\n5RPLidarA2\n6TeraRangerTowerEvo\n8LightwareSF45B\n10SITL\n12AirSimSITL\n\n\nRebootRequired: True\n\nPRX_ORIENT: Proximity sensor orientation\nProximity sensor orientation\nValueMeaning\n0Default\n1Upside Down\n\nPRX_YAW_CORR: Proximity sensor yaw correction\nProximity sensor yaw correction\n\n\nUnits: deg\n\n\nRange: -180 180\n\n\nPRX_IGN_ANG1: Proximity sensor ignore angle 1\nProximity sensor ignore angle 1\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID1: Proximity sensor ignore width 1\nProximity sensor ignore width 1\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG2: Proximity sensor ignore angle 2\nProximity sensor ignore angle 2\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID2: Proximity sensor ignore width 2\nProximity sensor ignore width 2\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG3: Proximity sensor ignore angle 3\nProximity sensor ignore angle 3\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID3: Proximity sensor ignore width 3\nProximity sensor ignore width 3\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG4: Proximity sensor ignore angle 4\nProximity sensor ignore angle 4\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID4: Proximity sensor ignore width 4\nProximity sensor ignore width 4\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG5: Proximity sensor ignore angle 5\nProximity sensor ignore angle 5\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID5: Proximity sensor ignore width 5\nProximity sensor ignore width 5\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG6: Proximity sensor ignore angle 6\nProximity sensor ignore angle 6\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID6: Proximity sensor ignore width 6\nProximity sensor ignore width 6\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_LOG_RAW: Proximity raw distances log\nNote: This parameter is for advanced users\nSet this parameter to one if logging unfiltered(raw) distances from sensor should be enabled\nValueMeaning\n0Off\n1On\n\nPRX_FILT: Proximity filter cutoff frequency\nNote: This parameter is for advanced users\nCutoff frequency for low pass filter applied to each face in the proximity boundary\n\n\nUnits: Hz\n\n\nRange: 0 20\n\n\nPSC Parameters\nPSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency\nNote: This parameter is for advanced users\nLower values will slow the response of the navigation controller and reduce twitchiness\n\n\nUnits: Hz\n\n\nRange: 0.5 5\n\n\nIncrement: 0.1\n\n\nPSC_POSZ_P: Position (vertical) controller P gain\nPosition (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller\n\nRange: 1.000 3.000\n\nPSC_VELZ_P: Velocity (vertical) controller P gain\nVelocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller\n\nRange: 1.000 8.000\n\nPSC_VELZ_I: Velocity (vertical) controller I gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration\n\n\nRange: 0.02 1.00\n\n\nIncrement: 0.01\n\n\nPSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum\nVelocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output\n\nRange: 1.000 8.000\n\nPSC_VELZ_D: Velocity (vertical) controller D gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller D gain. Corrects short-term changes in velocity\n\n\nRange: 0.00 1.00\n\n\nIncrement: 0.001\n\n\nPSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nPSC_VELZ_FLTE: Velocity (vertical) error filter\nNote: This parameter is for advanced users\nVelocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELZ_FLTD: Velocity (vertical) input filter for D term\nNote: This parameter is for advanced users\nVelocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_ACCZ_P: Acceleration (vertical) controller P gain\nAcceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output\n\n\nRange: 0.200 1.500\n\n\nIncrement: 0.05\n\n\nPSC_ACCZ_I: Acceleration (vertical) controller I gain\nAcceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration\n\nRange: 0.000 3.000\n\nPSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum\nAcceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate\n\n\nRange: 0 1000\n\n\nUnits: d%\n\n\nPSC_ACCZ_D: Acceleration (vertical) controller D gain\nAcceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration\n\nRange: 0.000 0.400\n\nPSC_ACCZ_FF: Acceleration (vertical) controller feed forward\nAcceleration (vertical) controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nPSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz\nAcceleration (vertical) controller target frequency in Hz\n\n\nRange: 1 50\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz\nAcceleration (vertical) controller error frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz\nAcceleration (vertical) controller derivative frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_SMAX: Accel (vertical) slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nPSC_POSXY_P: Position (horizontal) controller P gain\nPosition controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller\n\nRange: 0.500 2.000\n\nPSC_VELXY_P: Velocity (horizontal) P gain\nNote: This parameter is for advanced users\nVelocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration\n\n\nRange: 0.1 6.0\n\n\nIncrement: 0.1\n\n\nPSC_VELXY_I: Velocity (horizontal) I gain\nNote: This parameter is for advanced users\nVelocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration\n\n\nRange: 0.02 1.00\n\n\nIncrement: 0.01\n\n\nPSC_VELXY_D: Velocity (horizontal) D gain\nNote: This parameter is for advanced users\nVelocity (horizontal) D gain. Corrects short-term changes in velocity\n\n\nRange: 0.00 1.00\n\n\nIncrement: 0.001\n\n\nPSC_VELXY_IMAX: Velocity (horizontal) integrator maximum\nNote: This parameter is for advanced users\nVelocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output\n\n\nRange: 0 4500\n\n\nIncrement: 10\n\n\nUnits: cm/s/s\n\n\nPSC_VELXY_FLTE: Velocity (horizontal) input filter\nNote: This parameter is for advanced users\nVelocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELXY_FLTD: Velocity (horizontal) input filter\nNote: This parameter is for advanced users\nVelocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELXY_FF: Velocity (horizontal) feed forward gain\nNote: This parameter is for advanced users\nVelocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration\n\n\nRange: 0 6\n\n\nIncrement: 0.01\n\n\nPSC_ANGLE_MAX: Position Control Angle Max\nNote: This parameter is for advanced users\nMaximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value\n\n\nUnits: deg\n\n\nRange: 0 45\n\n\nIncrement: 1\n\n\nPSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping\nNote: This parameter is for advanced users\nJerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target\n\n\nUnits: m/s/s/s\n\n\nRange: 1 20\n\n\nIncrement: 1\n\n\nPSC_JERK_Z: Jerk limit for the vertical kinematic input shaping\nNote: This parameter is for advanced users\nJerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target\n\n\nUnits: m/s/s/s\n\n\nRange: 5 50\n\n\nIncrement: 1\n\n\nRALLY Parameters\nRALLY_TOTAL: Rally Total\nNote: This parameter is for advanced users\nNumber of rally points currently loaded\nRALLY_LIMIT_KM: Rally Limit\nNote: This parameter is for advanced users\nMaximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.\n\n\nUnits: km\n\n\nIncrement: 0.1\n\n\nRALLY_INCL_HOME: Rally Include Home\nControls if Home is included as a Rally point (i.e. as a safe landing place) for RTL\nValueMeaning\n0DoNotIncludeHome\n1IncludeHome\n\nRC Parameters\nRC_OVERRIDE_TIME: RC override timeout\nNote: This parameter is for advanced users\nTimeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled\n\n\nRange: 0.0 120.0\n\n\nUnits: s\n\n\nRC_OPTIONS: RC options\nNote: This parameter is for advanced users\nRC input options\n\nBitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection\n\nRC_PROTOCOLS: RC protocols enabled\nNote: This parameter is for advanced users\nBitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.\n\nBitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2\n\nRCn Parameters\nRCn_MIN: RC min PWM\nNote: This parameter is for advanced users\nRC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_TRIM: RC trim PWM\nNote: This parameter is for advanced users\nRC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_MAX: RC max PWM\nNote: This parameter is for advanced users\nRC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_REVERSED: RC reversed\nNote: This parameter is for advanced users\nReverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.\nValueMeaning\n0Normal\n1Reversed\n\nRCn_DZ: RC dead-zone\nNote: This parameter is for advanced users\nPWM dead zone in microseconds around trim or bottom\n\n\nUnits: PWM\n\n\nRange: 0 200\n\n\nRELAY Parameters\nRELAY_PIN: First Relay Pin\nDigital pin number for first relay control. This is the pin used for camera control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n27BBBMini Pin P8.17\n\nRELAY_PIN2: Second Relay Pin\nDigital pin number for 2nd relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n65BBBMini Pin P8.18\n\nRELAY_PIN3: Third Relay Pin\nDigital pin number for 3rd relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n22BBBMini Pin P8.19\n\nRELAY_PIN4: Fourth Relay Pin\nDigital pin number for 4th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n63BBBMini Pin P8.34\n\nRELAY_DEFAULT: Default relay state\nThe state of the relay on boot.\nValueMeaning\n0Off\n1On\n2NoChange\n\nRELAY_PIN5: Fifth Relay Pin\nDigital pin number for 5th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n62BBBMini Pin P8.13\n\nRELAY_PIN6: Sixth Relay Pin\nDigital pin number for 6th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n37BBBMini Pin P8.14\n\nRNGFNDn Parameters\nRNGFNDn_TYPE: Rangefinder type\nWhat type of rangefinder device that is connected\nValueMeaning\n0None\n1Analog\n2MaxbotixI2C\n3LidarLite-I2C\n5PWM\n6BBB-PRU\n7LightWareI2C\n8LightWareSerial\n9Bebop\n10MAVLink\n11uLanding\n12LeddarOne\n13MaxbotixSerial\n14TeraRangerI2C\n15LidarLiteV3-I2C\n16VL53L0X or VL53L1X\n17NMEA\n18WASP-LRF\n19BenewakeTF02\n20Benewake-Serial\n21LidarLightV3HP\n22PWM\n23BlueRoboticsPing\n24UAVCAN\n25BenewakeTFminiPlus-I2C\n26LanbaoPSK-CM8JL65-CC5\n27BenewakeTF03\n28VL53L1X-ShortRange\n29LeddarVu8-Serial\n30HC-SR04\n31GYUS42v2\n32MSP\n33USD1_CAN\n100SITL\n\nRNGFNDn_PIN: Rangefinder pin\nAnalog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input\nValueMeaning\n-1Not Used\n11PX4-airspeed port\n15Pixhawk-airspeed port\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n\nRNGFNDn_SCALING: Rangefinder scaling\nScaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.\n\n\nUnits: m/V\n\n\nIncrement: 0.001\n\n\nRNGFNDn_OFFSET: rangefinder offset\nOffset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars\n\n\nUnits: V\n\n\nIncrement: 0.001\n\n\nRNGFNDn_FUNCTION: Rangefinder function\nControl over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.\nValueMeaning\n0Linear\n1Inverted\n2Hyperbolic\n\nRNGFNDn_MIN_CM: Rangefinder minimum distance\nMinimum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDn_MAX_CM: Rangefinder maximum distance\nMaximum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDn_STOP_PIN: Rangefinder stop pin\nDigital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.\nValueMeaning\n-1Not Used\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n111PX4 FMU Relay1\n112PX4 FMU Relay2\n113PX4IO Relay1\n114PX4IO Relay2\n115PX4IO ACC1\n116PX4IO ACC2\n\nRNGFNDn_RMETRIC: Ratiometric\nThis parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.\nValueMeaning\n0No\n1Yes\n\nRNGFNDn_PWRRNG: Powersave range\nThis parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled\n\n\nUnits: m\n\n\nRange: 0 32767\n\n\nRNGFNDn_GNDCLEAR: Distance (in cm) from the range finder to the ground\nThis parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.\n\n\nUnits: cm\n\n\nRange: 5 127\n\n\nIncrement: 1\n\n\nRNGFNDn_ADDR: Bus address of sensor\nThis sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.\n\n\nRange: 0 127\n\n\nIncrement: 1\n\n\nRNGFNDn_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_ORIENT: Rangefinder orientation\nNote: This parameter is for advanced users\nOrientation of rangefinder\nValueMeaning\n0Forward\n1Forward-Right\n2Right\n3Back-Right\n4Back\n5Back-Left\n6Left\n7Forward-Left\n24Up\n25Down\n\nRNGFNDn_WSP_MAVG: Moving Average Range\nNote: This parameter is for advanced users\nSets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results\n\nRange: 0 255\n\nRNGFNDn_WSP_MEDF: Moving Median Filter\nNote: This parameter is for advanced users\nSets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active\n\nRange: 0 255\n\nRNGFNDn_WSP_FRQ: Frequency\nNote: This parameter is for advanced users\nSets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.\n\nRange: 0 10000\n\nRNGFNDn_WSP_AVG: Multi-pulse averages\nNote: This parameter is for advanced users\nSets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement\n\nRange: 0 255\n\nRNGFNDn_WSP_THR: Sensitivity threshold\nNote: This parameter is for advanced users\nSets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments\n\nRange: -1 255\n\nRNGFNDn_WSP_BAUD: Baud rate\nNote: This parameter is for advanced users\nDesired baud rate\nValueMeaning\n0Low Speed\n1High Speed\n\nRNGFNDA Parameters\nRNGFNDA_TYPE: Rangefinder type\nWhat type of rangefinder device that is connected\nValueMeaning\n0None\n1Analog\n2MaxbotixI2C\n3LidarLite-I2C\n5PWM\n6BBB-PRU\n7LightWareI2C\n8LightWareSerial\n9Bebop\n10MAVLink\n11uLanding\n12LeddarOne\n13MaxbotixSerial\n14TeraRangerI2C\n15LidarLiteV3-I2C\n16VL53L0X or VL53L1X\n17NMEA\n18WASP-LRF\n19BenewakeTF02\n20Benewake-Serial\n21LidarLightV3HP\n22PWM\n23BlueRoboticsPing\n24UAVCAN\n25BenewakeTFminiPlus-I2C\n26LanbaoPSK-CM8JL65-CC5\n27BenewakeTF03\n28VL53L1X-ShortRange\n29LeddarVu8-Serial\n30HC-SR04\n31GYUS42v2\n32MSP\n33USD1_CAN\n100SITL\n\nRNGFNDA_PIN: Rangefinder pin\nAnalog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input\nValueMeaning\n-1Not Used\n11PX4-airspeed port\n15Pixhawk-airspeed port\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n\nRNGFNDA_SCALING: Rangefinder scaling\nScaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.\n\n\nUnits: m/V\n\n\nIncrement: 0.001\n\n\nRNGFNDA_OFFSET: rangefinder offset\nOffset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars\n\n\nUnits: V\n\n\nIncrement: 0.001\n\n\nRNGFNDA_FUNCTION: Rangefinder function\nControl over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.\nValueMeaning\n0Linear\n1Inverted\n2Hyperbolic\n\nRNGFNDA_MIN_CM: Rangefinder minimum distance\nMinimum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDA_MAX_CM: Rangefinder maximum distance\nMaximum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDA_STOP_PIN: Rangefinder stop pin\nDigital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.\nValueMeaning\n-1Not Used\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n111PX4 FMU Relay1\n112PX4 FMU Relay2\n113PX4IO Relay1\n114PX4IO Relay2\n115PX4IO ACC1\n116PX4IO ACC2\n\nRNGFNDA_RMETRIC: Ratiometric\nThis parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.\nValueMeaning\n0No\n1Yes\n\nRNGFNDA_PWRRNG: Powersave range\nThis parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled\n\n\nUnits: m\n\n\nRange: 0 32767\n\n\nRNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground\nThis parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.\n\n\nUnits: cm\n\n\nRange: 5 127\n\n\nIncrement: 1\n\n\nRNGFNDA_ADDR: Bus address of sensor\nThis sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.\n\n\nRange: 0 127\n\n\nIncrement: 1\n\n\nRNGFNDA_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_ORIENT: Rangefinder orientation\nNote: This parameter is for advanced users\nOrientation of rangefinder\nValueMeaning\n0Forward\n1Forward-Right\n2Right\n3Back-Right\n4Back\n5Back-Left\n6Left\n7Forward-Left\n24Up\n25Down\n\nRNGFNDA_WSP_MAVG: Moving Average Range\nNote: This parameter is for advanced users\nSets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results\n\nRange: 0 255\n\nRNGFNDA_WSP_MEDF: Moving Median Filter\nNote: This parameter is for advanced users\nSets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active\n\nRange: 0 255\n\nRNGFNDA_WSP_FRQ: Frequency\nNote: This parameter is for advanced users\nSets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.\n\nRange: 0 10000\n\nRNGFNDA_WSP_AVG: Multi-pulse averages\nNote: This parameter is for advanced users\nSets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement\n\nRange: 0 255\n\nRNGFNDA_WSP_THR: Sensitivity threshold\nNote: This parameter is for advanced users\nSets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments\n\nRange: -1 255\n\nRNGFNDA_WSP_BAUD: Baud rate\nNote: This parameter is for advanced users\nDesired baud rate\nValueMeaning\n0Low Speed\n1High Speed\n\nRPM Parameters\nRPM_TYPE: RPM type\nWhat type of RPM sensor is connected\nValueMeaning\n0None\n1PWM\n2AUXPIN\n3EFI\n4Harmonic Notch\n\nRPM_SCALING: RPM scaling\nScaling factor between sensor reading and RPM.\n\nIncrement: 0.001\n\nRPM_MAX: Maximum RPM\nMaximum RPM to report\n\nIncrement: 1\n\nRPM_MIN: Minimum RPM\nMinimum RPM to report\n\nIncrement: 1\n\nRPM_MIN_QUAL: Minimum Quality\nNote: This parameter is for advanced users\nMinimum data quality to be used\n\nIncrement: 0.1\n\nRPM_PIN: Input pin number\nWhich pin to use\nValueMeaning\n-1Disabled\n50PixhawkAUX1\n51PixhawkAUX2\n52PixhawkAUX3\n53PixhawkAUX4\n54PixhawkAUX5\n55PixhawkAUX6\n\nRPM2_TYPE: Second RPM type\nNote: This parameter is for advanced users\nWhat type of RPM sensor is connected\nValueMeaning\n0None\n1PWM\n2AUXPIN\n3EFI\n4Harmonic Notch\n\nRPM2_SCALING: RPM scaling\nNote: This parameter is for advanced users\nScaling factor between sensor reading and RPM.\n\nIncrement: 0.001\n\nRPM2_PIN: RPM2 input pin number\nWhich pin to use\nValueMeaning\n-1Disabled\n50PixhawkAUX1\n51PixhawkAUX2\n52PixhawkAUX3\n53PixhawkAUX4\n54PixhawkAUX5\n55PixhawkAUX6\n\nSCHED Parameters\nSCHED_DEBUG: Scheduler debug level\nNote: This parameter is for advanced users\nSet to non-zero to enable scheduler debug messages. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.\nValueMeaning\n0Disabled\n2ShowSlips\n3ShowOverruns\n\nSCHED_LOOP_RATE: Scheduling main loop rate\nNote: This parameter is for advanced users\nThis controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.\nValueMeaning\n5050Hz\n100100Hz\n200200Hz\n250250Hz\n300300Hz\n400400Hz\n\n\nRebootRequired: True\n\nSCHED_OPTIONS: Scheduling options\nNote: This parameter is for advanced users\nThis controls optional aspects of the scheduler.\n\nBitmask: 0:Enable per-task perf info\n\nSCR Parameters\nSCR_ENABLE: Enable Scripting\nNote: This parameter is for advanced users\nControls if scripting is enabled\nValueMeaning\n0None\n1Lua Scripts\n\n\nRebootRequired: True\n\nSCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count\nNote: This parameter is for advanced users\nThe number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time\n\n\nRange: 1000 1000000\n\n\nIncrement: 10000\n\n\nSCR_HEAP_SIZE: Scripting Heap Size\nNote: This parameter is for advanced users\nAmount of memory available for scripting\n\n\nRange: 1024 1048576\n\n\nIncrement: 1024\n\n\nRebootRequired: True\n\n\nSCR_DEBUG_LVL: Scripting Debug Level\nNote: This parameter is for advanced users\nThe higher the number the more verbose builtin scripting debug will be.\nSCR_USER1: Scripting User Parameter1\nGeneral purpose user variable input for scripts\nSCR_USER2: Scripting User Parameter2\nGeneral purpose user variable input for scripts\nSCR_USER3: Scripting User Parameter3\nGeneral purpose user variable input for scripts\nSCR_USER4: Scripting User Parameter4\nGeneral purpose user variable input for scripts\nSCR_DIR_DISABLE: Directory disable\nNote: This parameter is for advanced users\nThis will stop scripts being loaded from the given locations\n\n\nBitmask: 0:ROMFS, 1:APM/scripts\n\n\nRebootRequired: True\n\n\nSERIAL Parameters\nSERIAL0_BAUD: Serial0 baud rate\nThe baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL0_PROTOCOL: Console protocol selection\nControl what protocol to use on the console. \nValueMeaning\n1MAVlink1\n2MAVLink2\n\n\nRebootRequired: True\n\nSERIAL1_PROTOCOL: Telem1 protocol selection\nControl what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL1_BAUD: Telem1 Baud Rate\nThe baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL2_PROTOCOL: Telemetry 2 protocol selection\nControl what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL2_BAUD: Telemetry 2 Baud Rate\nThe baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection\nControl what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL3_BAUD: Serial 3 (GPS) Baud Rate\nThe baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL4_PROTOCOL: Serial4 protocol selection\nControl what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL4_BAUD: Serial 4 Baud Rate\nThe baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL5_PROTOCOL: Serial5 protocol selection\nControl what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL5_BAUD: Serial 5 Baud Rate\nThe baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL6_PROTOCOL: Serial6 protocol selection\nControl what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL6_BAUD: Serial 6 Baud Rate\nThe baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL1_OPTIONS: Telem1 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL2_OPTIONS: Telem2 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL3_OPTIONS: Serial3 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL4_OPTIONS: Serial4 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL5_OPTIONS: Serial5 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL6_OPTIONS: Serial6 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL_PASS1: Serial passthru first port\nNote: This parameter is for advanced users\nThis sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nSERIAL_PASS2: Serial passthru second port\nNote: This parameter is for advanced users\nThis sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nSERIAL_PASSTIMO: Serial passthru timeout\nNote: This parameter is for advanced users\nThis sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.\n\n\nRange: 0 120\n\n\nUnits: s\n\n\nSERIAL7_PROTOCOL: Serial7 protocol selection\nControl what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL7_BAUD: Serial 7 Baud Rate\nThe baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL7_OPTIONS: Serial7 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL8_PROTOCOL: Serial8 protocol selection\nControl what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL8_BAUD: Serial 8 Baud Rate\nThe baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL8_OPTIONS: Serial8 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERVO Parameters\nSERVO_RATE: Servo default output rate\nNote: This parameter is for advanced users\nThis sets the default output rate in Hz for all outputs.\n\n\nRange: 25 400\n\n\nUnits: Hz\n\n\nSERVO_DSHOT_RATE: Servo DShot output rate\nNote: This parameter is for advanced users\nThis sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.\nValueMeaning\n01Khz\n1loop-rate\n2double loop-rate\n3triple loop-rate\n4quadruple loop rate\n\nSERVO_DSHOT_ESC: Servo DShot ESC type\nNote: This parameter is for advanced users\nThis sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.\nValueMeaning\n0None\n1BLHeli32/BLHeli_S/Kiss\n\nSERVOn Parameters\nSERVOn_MIN: Minimum PWM\nminimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 500 2200\n\n\nIncrement: 1\n\n\nSERVOn_MAX: Maximum PWM\nmaximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nSERVOn_TRIM: Trim PWM\nTrim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nSERVOn_REVERSED: Servo reverse\nReverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.\nValueMeaning\n0Normal\n1Reversed\n\nSERVOn_FUNCTION: Servo output function\nFunction assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function\nValueMeaning\n0Disabled\n1RCPassThru\n2Flap\n3FlapAuto\n4Aileron\n6MountPan\n7MountTilt\n8MountRoll\n9MountOpen\n10CameraTrigger\n12Mount2Pan\n13Mount2Tilt\n14Mount2Roll\n15Mount2Open\n16DifferentialSpoilerLeft1\n17DifferentialSpoilerRight1\n19Elevator\n21Rudder\n22SprayerPump\n23SprayerSpinner\n24FlaperonLeft\n25FlaperonRight\n26GroundSteering\n27Parachute\n28Gripper\n29LandingGear\n30EngineRunEnable\n31HeliRSC\n32HeliTailRSC\n33Motor1\n34Motor2\n35Motor3\n36Motor4\n37Motor5\n38Motor6\n39Motor7\n40Motor8\n41TiltMotorsFront\n45TiltMotorsRear\n46TiltMotorRearLeft\n47TiltMotorRearRight\n51RCIN1\n52RCIN2\n53RCIN3\n54RCIN4\n55RCIN5\n56RCIN6\n57RCIN7\n58RCIN8\n59RCIN9\n60RCIN10\n61RCIN11\n62RCIN12\n63RCIN13\n64RCIN14\n65RCIN15\n66RCIN16\n67Ignition\n69Starter\n70Throttle\n71TrackerYaw\n72TrackerPitch\n73ThrottleLeft\n74ThrottleRight\n75TiltMotorFrontLeft\n76TiltMotorFrontRight\n77ElevonLeft\n78ElevonRight\n79VTailLeft\n80VTailRight\n81BoostThrottle\n82Motor9\n83Motor10\n84Motor11\n85Motor12\n86DifferentialSpoilerLeft2\n87DifferentialSpoilerRight2\n88Winch\n89Main Sail\n90CameraISO\n91CameraAperture\n92CameraFocus\n93CameraShutterSpeed\n94Script1\n95Script2\n96Script3\n97Script4\n98Script5\n99Script6\n100Script7\n101Script8\n102Script9\n103Script10\n104Script11\n105Script12\n106Script13\n107Script14\n108Script15\n109Script16\n120NeoPixel1\n121NeoPixel2\n122NeoPixel3\n123NeoPixel4\n124RateRoll\n125RatePitch\n126RateThrust\n127RateYaw\n128WingSailElevator\n129ProfiLED1\n130ProfiLED2\n131ProfiLED3\n132ProfiLEDClock\n133Winch Clutch\n134SERVOn_MIN\n135SERVOn_TRIM\n136SERVOn_MAX\n137SailMastRotation\n\nSERVOBLH Parameters\nSERVO_BLH_MASK: BLHeli Channel Bitmask\nNote: This parameter is for advanced users\nEnable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors\nIf set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors\nValueMeaning\n0Disabled\n1Enabled\n\nSERVO_BLH_TEST: BLHeli internal interface test\nNote: This parameter is for advanced users\nSetting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.\nValueMeaning\n0Disabled\n1TestMotor1\n2TestMotor2\n3TestMotor3\n4TestMotor4\n5TestMotor5\n6TestMotor6\n7TestMotor7\n8TestMotor8\n\nSERVO_BLH_TMOUT: BLHeli protocol timeout\nThis sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout\n\n\nUnits: s\n\n\nRange: 0 300\n\n\nSERVO_BLH_TRATE: BLHeli telemetry rate\nThis sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests\n\n\nUnits: Hz\n\n\nRange: 0 500\n\n\nSERVO_BLH_DEBUG: BLHeli debug level\nWhen set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.\nValueMeaning\n0Disabled\n1Enabled\n\nSERVO_BLH_OTYPE: BLHeli output type override\nNote: This parameter is for advanced users\nWhen set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.\nValueMeaning\n0None\n1OneShot\n2OneShot125\n3Brushed\n4DShot150\n5DShot300\n6DShot600\n7DShot1200\n\nSERVO_BLH_PORT: Control port\nNote: This parameter is for advanced users\nThis sets the serial port to use for blheli pass-thru\nValueMeaning\n0Console\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n\nSERVO_BLH_POLES: BLHeli Motor Poles\nNote: This parameter is for advanced users\nThis allows calculation of true RPM from ESC's eRPM. The default is 14.\n\nRange: 1 127\n\nSERVO_BLH_3DMASK: BLHeli bitmask of 3D channels\nNote: This parameter is for advanced users\nMask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels\nNote: This parameter is for advanced users\nMask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_RVMASK: BLHeli bitmask of reversed channels\nNote: This parameter is for advanced users\nMask of channels which are reversed. This is used to configure ESCs in reversed mode\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVOFTW Parameters\nSERVO_FTW_MASK: Servo channel output bitmask\nServo channel mask specifying FETtec ESC output.\n\n\nBitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12\n\n\nRebootRequired: True\n\n\nSERVO_FTW_RVMASK: Servo channel reverse rotation bitmask\nServo channel mask to reverse rotation of FETtec ESC outputs.\n\nBitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12\n\nSERVO_FTW_POLES: Nr. electrical poles\nNumber of motor electrical poles\n\nRange: 2 50\n\nSERVOROB Parameters\nSERVO_ROB_POSMIN: Robotis servo position min\nPosition minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095\n\nRange: 0 4095\n\nSERVO_ROB_POSMAX: Robotis servo position max\nPosition maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095\n\nRange: 0 4095\n\nSERVOSBUS Parameters\nSERVO_SBUS_RATE: SBUS default output rate\nNote: This parameter is for advanced users\nThis sets the SBUS output frame rate in Hz.\n\n\nRange: 25 250\n\n\nUnits: Hz\n\n\nSERVOVOLZ Parameters\nSERVO_VOLZ_MASK: Channel Bitmask\nEnable of volz servo protocol to specific channels\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSRn Parameters\nSRn_RAW_SENS: Raw sensor stream rate\nNote: This parameter is for advanced users\nStream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXT_STAT: Extended status stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_RC_CHAN: RC Channel stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_POSITION: Position stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of GLOBAL_POSITION_INT to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA1: Extra data type 1 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of ATTITUDE and SIMSTATE (SITL only) to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA2: Extra data type 2 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of VFR_HUD to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA3: Extra data type 3 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_PARAMS: Parameter stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of PARAM_VALUE to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nVISO Parameters\nVISO_TYPE: Visual odometry camera connection type\nNote: This parameter is for advanced users\nVisual odometry camera connection type\nValueMeaning\n0None\n1MAVLink\n2IntelT265\n\n\nRebootRequired: True\n\nVISO_POS_X: Visual odometry camera X position offset\nNote: This parameter is for advanced users\nX position of the camera in body frame. Positive X is forward of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_POS_Y: Visual odometry camera Y position offset\nNote: This parameter is for advanced users\nY position of the camera in body frame. Positive Y is to the right of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_POS_Z: Visual odometry camera Z position offset\nNote: This parameter is for advanced users\nZ position of the camera in body frame. Positive Z is down from the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_ORIENT: Visual odometery camera orientation\nNote: This parameter is for advanced users\nVisual odometery camera orientation\nValueMeaning\n0Forward\n2Right\n4Back\n6Left\n24Up\n25Down\n\nVISO_SCALE: Visual odometry scaling factor\nNote: This parameter is for advanced users\nVisual odometry scaling factor applied to position estimates from sensor\nVISO_DELAY_MS: Visual odometry sensor delay\nNote: This parameter is for advanced users\nVisual odometry sensor delay relative to inertial measurements\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nVISO_VEL_M_NSE: Visual odometry velocity measurement noise\nNote: This parameter is for advanced users\nVisual odometry velocity measurement noise in m/s\n\n\nUnits: m/s\n\n\nRange: 0.05 5.0\n\n\nVISO_POS_M_NSE: Visual odometry position measurement noise\nNote: This parameter is for advanced users\nVisual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)\n\n\nUnits: m\n\n\nRange: 0.1 10.0\n\n\nVISO_YAW_M_NSE: Visual odometry yaw measurement noise\nNote: This parameter is for advanced users\nVisual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)\n\n\nUnits: rad\n\n\nRange: 0.05 1.0\n\n\nVTX Parameters\nVTX_ENABLE: Is the Video Transmitter enabled or not\nToggles the Video Transmitter on and off\nValueMeaning\n0Disable\n1Enable\n\nVTX_POWER: Video Transmitter Power Level\nVideo Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level\n\nRange: 1 1000\n\nVTX_CHANNEL: Video Transmitter Channel\nVideo Transmitter Channel\n\nRange: 0 7\n\nVTX_BAND: Video Transmitter Band\nVideo Transmitter Band\nValueMeaning\n0Band A\n1Band B\n2Band E\n3Airwave\n4RaceBand\n5Low RaceBand\n\nVTX_FREQ: Video Transmitter Frequency\nVideo Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL\n\n\nReadOnly: True\n\n\nRange: 5000 6000\n\n\nVTX_OPTIONS: Video Transmitter Options\nNote: This parameter is for advanced users\nVideo Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels.\n\nBitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests\n\nVTX_MAX_POWER: Video Transmitter Max Power Level\nVideo Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.\n\nRange: 25 1000\n\nWPNAV Parameters\nWPNAV_SPEED: Waypoint Horizontal Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 20 2000\n\n\nIncrement: 50\n\n\nWPNAV_RADIUS: Waypoint Radius\nDefines the distance from a waypoint, that when crossed indicates the wp has been hit.\n\n\nUnits: cm\n\n\nRange: 5 1000\n\n\nIncrement: 1\n\n\nWPNAV_SPEED_UP: Waypoint Climb Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 10 1000\n\n\nIncrement: 50\n\n\nWPNAV_SPEED_DN: Waypoint Descent Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 10 500\n\n\nIncrement: 10\n\n\nWPNAV_ACCEL: Waypoint Acceleration\nDefines the horizontal acceleration in cm/s/s used during missions\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nWPNAV_ACCEL_Z: Waypoint Vertical Acceleration\nDefines the vertical acceleration in cm/s/s used during missions\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nWPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following\nNote: This parameter is for advanced users\nThis controls if waypoint missions use rangefinder for terrain following\nValueMeaning\n0Disable\n1Enable\n\nWPNAV_JERK: Waypoint Jerk\nDefines the horizontal jerk in m/s/s used during missions\n\n\nUnits: m/s/s/s\n\n\nRange: 1 20\n\n\nWPNAV_TER_MARGIN: Waypoint Terrain following altitude margin\nNote: This parameter is for advanced users\nWaypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)\n\n\nUnits: m\n\n\nRange: 0.1 100\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/","path":"/software/autopilot/ArduSub-4.1/developers/parameters/","title":"Parameters"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/","path":"/software/control-station/","title":"Control Station"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/","path":"/software/control-station/Cockpit-1.0/","title":"Cockpit"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/":{"body":"Display Breakdown\n\n\n\nHeader Bar\nThe header bar consists of the following main elements:\nBurger Menu\nClicking on the burger menu (in the top left of the screen) provides access to various \nconfiguration options:\n\n\n\nMission Name\nIt is possible to set a display name for the current mission/operation from beside the burger menu.\nA default mission name is randomly selected each time Cockpit is opened/restarted. The default names are not\nused for saving files/recordings, but modified names are. While modifying the mission name it is possible\nto restore the previous name (e.g. if you change you mind or make a mistake).\n\n\n\nAlerts\nAlerts received from the autopilot (STATUSTEXT), as\nwell as application notifications (like loss of connection to the vehicle) are displayed in the central alerts\npane, which can be hovered over to access a scrollable history of alerts:\n\n\n\nSome alerts can be read aloud on arrival using text to speech technology, which can be configured.\nMini Widget Container\nWhen space is available, mini widgets can be placed on the right side of the alerts display.\nDate\nThe current time and date is displayed in the top right corner.\nEdit Mode\nCockpit's interface consists of a configurable widget system, with\n\nProfiles\n\nfor supporting different operators and/or vehicle types\ncan be added/removed/duplicated, saved and loaded (to/from both the vehicle and the display device),\nand switched between in edit mode\n\n\nViews (within each profile)\n\nfor handling different operation modes / targets within a mission\ncan be added/removed/duplicated, saved and loaded to/from the display device, and\ndynamically switched between during operation\n\n\nWidgets (within each view)\n\nfor advanced information display and vehicle control\ncan be added/removed, placed in arbitrary locations, and resized\n\n\nMini-widgets (within mini-widget bar widgets)\n\nfor basic information display and vehicle/interface control\ncan be added/removed, reordered within widget bars, and moved between them\n\n\n\n\n\n\nProfiles\nA \"profile\" is a collection of views that are relevant to a particular use-case or operator.\nIf one control station computer is used by multiple operators (e.g. within the same organisation)\nat different times then it could be useful for each operator to have their preferred interface saved on\nthat computer, and they can switch to their profile when they open up Cockpit.\nAlternatively, if the same control station computer is used to control different types of vehicles\n(e.g. a boat, an underwater ROV, and a drone) then the operator can load the appropriate vehicle control\ninterface when they connect to a different vehicle type. It will soon be possible to store and load\nprofiles from the vehicle itself, instead of only on the control station computer, which makes it easier\nto connect a different control computer to a vehicle and load the familiar control profiles for that vehicle.\nDefault Profiles\nCockpit includes default profiles for submarine and boat use-cases. It is possible to restore to these\n(as a known reasonable interface) in case something goes wrong with your custom profiles, but be aware\nthat the defaults may change between different Cockpit versions, so may end up restoring to an interface\nyou haven't seen before.\nProfile Configuration\n\nOpen edit mode (via the burger menu\nSelect a custom/user profile to edit, and/or create, import, or remove profiles as desired\n\nProfiles can be renamed by clicking on the settings cog icon, or duplicated via the copy icon\nAdditional profiles can be imported from the display device or the connected vehicle\n\nOpening Cockpit on a new device will automatically try to load profiles from the vehicle\nIf the browser already has Cockpit profiles stored, it will not try to load any from the\nvehicle unless the import from vehicle button is clicked\n\n\nThe set of available profiles can be stored onto the vehicle, or reset/restored to the defaults\n\nStoring profiles onto the vehicle overwrites those that may already be there\n\n\nThe \"Views\" list shows the views that are available within the selected profile\n\n\n\nViews\nA \"view\" is like a page that widgets can be displayed in. It is possible to configure multiple\nseparate views and switch between them during operation, which is useful if you have different interface\npreferences for when you're performing different operations.\nAs an example, you may have one view tailored to general navigation, and another that's designed around\ninspections. The first view could then be used while getting the vehicle to the inspection site, and then\nthe second view can be switched to once it's time to actually perform the inspection.\nIt is possible for different devices or browser instances to access Cockpit at the same time (e.g. using\nseparate browser profiles, or one display in incognito mode, but currently not multiple tabs of the same\nbrowser instance), with their views configured independently. To use the same component layouts across\ninstances you can export the desired view(s) from one and import into the other(s).\nMultiple simultaneous tabs from the same browser instance will be supported in future.\nConfiguration\n\nOpen edit mode via the burger menu\nSelect a view to edit, and/or create or remove views as desired\n\nViews can be imported from an external file, or exported to a file for sharing\nClicking on the cog settings icon allows renaming a view, and determining whether the footer bar is\nshown or hidden/docked when Cockpit boots\n\nIt is always possible to toggle the current footer bar visibility using\nCockpit Actions (e.g. via a joystick button)\n\n\n\n\n\n\n\n\n\nThe \"Current widgets\" list allows\n\ndragging the widgets in the current view to reorder which widget is on top\n\nThis helps for use-cases like overlaying a HUD element on a video display\n\n\nremoving an existing widget from the current view\nresizing a widget to fill the entire view\n\n\nNew widgets can be added via the bottom section\n\nClicking on a regular widget adds it to the view, after which it can be positioned and resized as desired\nMini widgets have fixed sizes, but can be dragged and dropped into the desired location in the header/footer\nbars or in a custom mini widget bar\nThe selector in the bottom left can be used to choose between editing regular or mini widgets\n\n\nSome widgets can be configured, by clicking the cog settings icon in the \"Current widgets\" list\n\nThere are currently cog icons for all widgets,\nso if you click a cog icon and nothing happens it means that widget is not configurable\n\n\n\nWidgets\nThere are several types of widgets available, and in future it will be possible to create, import, and use custom widgets as well.\nRegular Widgets\nAttitude HUD\nThe attitude HUD widget displays the vehicle's pitch and roll as a heads-up display overlay:\n\n\n\nIt is possible to configure which components get displayed, as well as the line colour:\n\n\n\nVirtual Horizon\nThe virtual horizon widget displays the vehicle's pitch and roll as though on the gauge in a plane:\n\n\n\nIt is most useful for guided and/or autonomous control, where the main display is of the vehicle's position.\nCompass\nThe compass widget displays the vehicle's orientation as though looking at a compass in your hand:\n\n\n\nIt is most useful for guided and/or autonomous control, where the main display is of the vehicle's position.\nIt is possible to configure the vertical direction to be fixed to North (\"North-up\") or to the vehicle's \nforwards direction (\"head-up\").\n\n\n\nCompass HUD\nThe compass HUD is a first-person compass view, as though inside a compass and looking in the direction the\nvehicle is pointing (its heading):\n\n\n\nIt is possible to configure whether the exact heading angle is shown, whether to use a -180 to +180° range\n(default is 0 to 360°), and the colour of the lines:\n\n\n\nDepth HUD\nThe depth HUD indicates the vehicle's current depth as determined by its external pressure sensor:\n\n\n\nThis is primarily useful for underwater vehicles.\nConfiguration determines whether the exact depth value is shown, and the colour of the lines:\n\n\n\nIFrame\nThe iframe widget provides an inline frame that can display another HTML page within the Cockpit interface.\nThis is particularly useful for showing the interfaces and displays of BlueOS Extensions (e.g. for a sonar viewer):\n\n\n\nConfiguration determines the URL to fetch the page from, as well as the overall transparency of the iframe:\n\n\n\nImage Viewer\nThe image viewer widget shows an image that is accessible to the control station computer via its network.\n\n\n\nImages from the internet can be included (e.g. a logo for branding) as long as the computer has internet\naccess when Cockpit is started.\nThis is most useful for images hosted on the local network, and was designed to display the output of a\nself-replacing mjpeg like from an ESP32-Cam. It could also display images hosted by a\nBlueOS Extension.\nMap\nFor vehicles with a positioning system, the map widget displays the \nregistered home location and the vehicle's\ncurrent position, with an option to track\nthe vehicle's path over time.\nThere are buttons to \n\nmove the map to follow the registered 'home' location\n\nthis may move around if the control station computer is on a boat\n\n\nmove the map to follow the vehicle's current position\ndownload the current mission from the vehicle, and display it on the map\nexecute the mission that is on the vehicle\n\n\n\n\n\n\n\nIn future it will be possible to set the current vehicle position, and click to guide the vehicle to new\npositions.\nVideo Player\nThe video player widget displays an available WebRTC video stream. BlueOS uses the \nMAVLink Camera Manager to automatically create a WebRTC \nstream for applicable video streams.\n\n\n\nMultiple video widgets can be added to display different video streams.\nConfiguration allows selecting which video stream to display, flipping the stream image, and choosing how\nthe frames should fit within the widget:\n\ncover: maintains the video aspect ratio, but expands the frames to fully cover the widget, and crops\noff the sides or top+bottom if they extend beyond the widget boundaries\nfill: stretches the frames so that all sides are against the corresponding widget boundary\ncontain: maintains the video aspect ratio, but shrinks the frames to fully fit inside the widget,\nadding transparent padding at the sides / above+below as necessary\n\n\n\n\nIt is also possible to select the video source IP, which is recommended especially if there are multiple\navailable connection routes (e.g. if there is a wired route through a tether, as well as a wireless connection,\nyou should select the tether IP and remove the wireless one to avoid video stuttering from transmission over wifi).\nA warning is provided when multiple routes are available:\n\n\n\nVideo recording is possible using a mini widget, and directly records the incoming stream\n(not the scaled and cropped display of the widget). Cockpit can be configured to \nlog some telemetry values, and record them as a subtitle file for convenient video playback:\n\n\n\nURL Video Player\nThe URL video player widget displays a video from a URL. This is useful for testing IP cameras that are not\nbeing redirected via BlueOS, but can also be used to display online videos if that is for some reason relevant.\n\n\n\nConfiguration allows selecting which URL to stream a video from, as well as options for whether to play the\nvideo automatically, whether it should loop when complete, whether it should play sound or be muted, whether\nplayback controls should be exposed, and choosing how the video frames should fit within the widget (as\ndescribed in Video Player.\n\n\n\nMini Widget Bar\nThe mini widget bar widget is a rectangular container for storing mini widgets.\n\n\n\nMini Widgets\nMini widgets are small, generally single-function widgets that can be drag-positioned in the\nheader bar, footer bar, or any mini widget bar.\nThey are editable by selecting \"Mini Widgets\" in the bottom left corner of edit mode, then either\ndragging a new mini-widget (from those available along the bottom of the screen) into a\nmini-widget bar, or configuring or removing one from the \"current mini-widgets\"\nlist in the bottom left corner.\nThe current options include\n\nArm/Disarm toggle switch\nVehicle connection status indicator\nPower / battery indicator\nDepth indicator\n(Relative) altitude indicator\nVery generic indicator\n\nconfiguring this allows selecting which vehicle variable to track, out of\nany that have been received so far (including custom ones)\nonly variables coming from Ardupilot vehicles are currently supported\navailable variables include those comming from NAMED_VALUE_FLOAT/INT messages as well\nas any variable that is inside any MAVLink message\nseveral pre-made presets are available for usage with common variables\nit is also possible to specify a display unit, a value multiplier, an icon, the number of\ndigits after the decimal place and a custom display name\n\n\n\n\n\n\n\n\n\n\nVideo recorder\n\nallows recording one of the available WebRTC streams, or the full Cockpit tab\nrecording occurs in the browser of the display device (not onboard the vehicle)\n\nthis is currently stored in memory and downloaded to the device when finished, which may limit\nmaximum time for individual recordings\n\n\nrecordings are saved using the mission name and the starting timestamp\na warning is displayed if Cockpit is closed while a video is recording, and a recovery popup\nappears when Cockpit is next opened in that browser / on that device\n\n\n\n\n\n\n\n\n\n\n\n\n\nJoystick connection status indicator\nFlight mode selector\nGPS status indicator\nView selector\nTakeoff/land button\n\nConfiguration\nCockpit's behaviour can be configured via the burger menu, with the following tabs:\nGeneral\nConnection configuration allows specifying custom endpoint addresses for Cockpit to communicate with.\nWhen Cockpit is hosted by a vehicle running BlueOS these are usually correct by default, but if using\nit standalone or connecting to some external services it may be necessary to specify different\naddresses, and refresh the page to establish the desired connection.\n\n\n\nJoysticks\nCockpit is intended to work with arbitrary joystick types, and allows mapping joystick buttons and axes to\nvarious protocol functions, which can send inputs and commands to the vehicle, or trigger\ninterface events. Once a function mapping is configured it is possible to export it to the computer and/or the\nvehicle, which can then be imported later to new Cockpit instances/devices.\n\n\n\nSupport is built in for simultaneous input from multiple sources, including multiple joysticks, and by\ndefault each joystick can provide up to 8 axis ranges and 32 buttons.\nJoystick Protocols\nWhen mapping the functionality of a joystick button or axis, there are multiple protocols to choose from:\n\n\n\nMAVLink MANUAL_CONTROL Messages\nMANUAL_CONTROL MAVLink messages are \nautomatically sent to the vehicle at 25Hz, which is not currently configurable.\nButton functions are determined by the autopilot firmware - e.g. in ArduSub they correspond to\nBTNn_FUNCTION\nparameter values.\nAs a few caveats:\n\nArduSub <= 4.1.x only supports 16 independent buttons and 4 axis ranges in its MANUAL_CONTROL handling\n\nMore recent versions support the extended protocol, with 32 buttons and 6 motion axis inputs\n\n\nArduRover does not support buttons via the MANUAL_CONTROL protocol\nWhen mapping the Z (vertical) motion axis range, note that ArduSub uses 0 to +1000 for full reverse to full\nforwards, whereas other vehicle types use -1000 to +1000\n\nThe function mapping decision process is designed to minimise intrusiveness to existing setups. When mapping a\nMANUAL_CONTROL button function to a joystick button, Cockpit\n\nFirst tries to use already mapped functions\n\ne.g. if there is already a BTNn_FUNCTION configured to enable Stabilize mode, a Cockpit button being set\nto enable Stabilize mode will map to that existing function bit\n\n\nThen overwrites available Disabled BTNn_FUNCTIONs\nThen tries to overwrite any mapped function bits that Cockpit currently isn't using\n\nIf you try to change a Cockpit function to a MANUAL_CONTROL function when there are no buttons left it\nwill display an error message about insufficient buttons\n\n\n\nIt is permitted to map the joystick button functions without a vehicle connected, in which case any relevant\nautopilot parameters will be automatically remapped once the vehicle connects. If more MANUAL_CONTROL button\nfunctions have been assigned than are supported by the vehicle then the extra ones are removed, and a warning\nis raised to notify that the configured mapping is not fully as designed.\nCockpit Actions\nJoystick buttons can also be configured to run more general functionalities, like modifying the interface or\nsending a single MAVLink message. The current supported Actions are:\n\ngo_to_next_view\ngo_to_previous_view\ntoggle_bottom_bar\ntoggle_full_screen\nmavlink_arm\nmavlink_disarm\n\nModifier Keys\nModifiers allow sacrificing one button in order to add an extra functionality slot for every non-modifier button.\nPressing a button while a modifier is held runs the modified function instead of the regular button function.\nCurrently only a single modifier is available (Shift). As a special case, when a shift functionality slot is\nconfigured as a MAVLink MANUAL_CONTROL protocol function, it will activate BTNn_SFUNCTIONs rather than the\nregular BTNn_FUNCTIONs, which allows additional MANUAL_CONTROL button functions to be configured. Functions\nfrom other joystick protocols are unaffected, and can be arbitrarily assigned to regular or modifier-based\nfunctionality slots.\nOther\nCurrently only used for the \"No Function\" option.\nCustom Joysticks\nAdding support for a new joystick type requires providing an SVG file with particular element IDs\n(for function mapping, and so the elements can be dynamically filled when the corresponding button is pressed):\n\npath_b* is used for different button numbers, numbers can currently be from 0-31\n\nthe buttons can be remapped during Cockpit configuration by clicking on the displayed button in the SVG\ndisplay and clicking the \"Remap\" button followed by pressing the actual joystick button that matches the\ndisplayed location\n\n\npath_b10/b11 are currently used to denote the joystick axes\n\n10 indicates the left side joystick, 11 indicates the right side one\nin future there will be support for arbitrary axes and sliders\n\n\nNew SVGs currently need to be added to the code, but in future will be possible to add/import dynamically\n\nOnce Cockpit has a suitably registered SVG file for the desired joystick type, it is possible to perform the\nrelevant \"Joystick mapping\", from the button IDs presented by the physical joystick to labels that match the\ncorresponding buttons in the SVG file. This mapping can then be exported to the computer and/or the vehicle,\nand imported to new Cockpit instances/devices later.\nLogs\nCockpit can optionally record some of its received telemetry values, which can then be turned into subtitle\nfiles when recording videos. \nCurrently the possible variables for logging are pre-defined, and the output format is determined automatically.\nIf left unconfigured, the variables that are recorded by default are those from active widgets in the selected \nProfile. It is possible to override which variables are logged via the configuration page, but\ncustom widgets like the VeryGenericIndicator cannot currently be logged.\n\n\n\nLogging is at a fixed rate of 1Hz. When a video recording completes, a corresponding subtitle file is generated\nby slicing the raw log from the start to end timestamps of the video.\n\n💡 Recorded video and subtitles are in separate files, so the browser will typically ask for permission to \"download\nmultiple files\", which must be accepted to get access to the subtitles corresponding to a video recording.\n\nAlerts\nIt is possible to select the desired text-to-speech voice, as well as configure which alert severities\nare read out loud:\n\n\n\nMission Planning\n\nAllows planning (and saving/loading) autonomous missions\nAllows mission control\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/","path":"/software/control-station/Cockpit-1.0/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/":{"body":"General Configuration\nWhen run as a BlueOS Extension, Cockpit will automatically be configured to connect using the IP address of the connection to BlueOS.\nIf that address changes during operating (or if Cockpit is run as a standalone application) it may be necessary to configure the\nglobal vehicle address, MAVLink2REST address, and WebRTC signalling server address so that Cockpit knows the correct connection \npoints for the vehicle. After address configuration it is necessary to refresh the page.\nTo access the configuration section, open the burger menu in the top left, and select \"Configuration\".\n\n\n\nInterface Setup\nVisual Display\nBy default, the interface of Cockpit is set up with three views:\n\nVideo view\n\nIncludes a video stream, vehicle telemetry, compass and attitude instrument indicators, status updates, and flight mode selection\nUseful for first-person control of a vehicle like an ROV, copter, or plane, focused on what the vehicle can see\n\n\n\n\n\n\n\nHUD view\n\nIncludes a video stream, vehicle telemetry, heads-up display (HUD) overlay elements, status updates, and flight mode selection\nAn alternative for first-person control of a vehicle like an ROV, copter, or plane, focused on precision maneuvering\n\n\n\n\n\n\n\nMap view\n\nIncludes a map, vehicle telemetry, status updates, and flight mode selection\nMost useful for mission planning and remote monitoring of vehicles with a positioning system and/or autonomous control\n\n\n\n\n\n\nThe available views and the widgets within them (including sizing and placement) can be configured as described in the\nadvanced usage documentation.\nJoystick Configuration\nFor vehicles controlled via a joystick, button and axis mappings can be set by clicking the burger menu (top left), then selecting\n\"Configuration\" and navigating to the Joystick tab.\n\n\n\nVehicle Setup\nCockpit does not currently contain vehicle configuration or calibration functionalities. It is recommended to perform these in advance,\nusing either the BlueOS web interface and/or an alternative control station software like QGroundControl.\nIt is possible to switch between Mission Planning and Flight displays via the burger menu in the top left.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/","path":"/software/control-station/Cockpit-1.0/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/":{"body":"BlueOS Extension\nFor vehicles with an Onboard Computer running BlueOS,\nand an IP-based (wifi / ethernet tether) connection to the Control Station Computer,\nCockpit is available\nas a BlueOS Extension.\nUpdates\nOnce installed, updating to a new Cockpit version can be done via the \"Installed\" tab of the BlueOS\nExtensions Manager.\nSelf-Contained Application\nIn future, Cockpit will also be available as a self-contained Electron application, which can be stored on a Control Station\nComputer and started up for connection to a vehicle.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/","path":"/software/control-station/Cockpit-1.0/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/":{"body":"\n\n\n\n\n\nA bit of context...\nThe existing market for control station software is missing an option that's readily available, easy to use, versatile, easy to customise and develop for, and cross-platform. In response to this need, and fueled by years of inspirations for what a truly great control station could be, Cockpit is Blue Robotics' next-generation control interface, for thrusting your vehicle control experience into the future.\nAvailability\nCockpit is currently publicly available as a BlueOS Extension (requires BlueOS >= 1.1). It is still in an initial development phase, and will not be actively supported until it is officially released.\nThe source code is available on GitHub,\nunder two possible licenses.\nPrimary Feature List\n\nBrowser-based control station software, for vehicle control and monitoring from any web-capable device\nWidget-based layout system, with freeform positioning and resizing\nCustom display Views, for interface pages/profiles that can be switched between\n\nDifferent browser windows/screens/devices can independently select which view to display\nViews are downloadable and can be shared (json contains name and list of components and widget settings)\n\n\nMAVLink NAMED_VALUE_FLOAT/_INT messages are self-registering for use in mini-widgets (including custom ones!)\nWebRTC-based video widget\n\nMultiple widgets can be added to support arbitrary numbers of video streams\nIncludes video recording support, on the display device\n\n\nMap widget\n\nProvides position tracking\nAllows planning (and saving/loading) autonomous missions\nAllows mission control\nIn future will allow setting the current vehicle position, and clicking to guide the vehicle to new positions\n\n\nCustomisable Actions mappable to user inputs (e.g. joysticks, and key presses / screen clicks in future)\n\nActions can send commands to the vehicle, or can trigger local events like view switching and starting video recording\nIncludes support for simultaneous input from multiple sources (including multiple joysticks)\n\n\nJoysticks of any type can be configured\n\nButtons and axes can be mapped to arbitrary Actions\n\n\nNotification system\n\nDisplays autopilot (MAVLink STATUSTEXT) and application alerts\nIncludes text to speech announcements\n\n\nMission naming used on the interface and video save filenames\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/","path":"/software/control-station/Cockpit-1.0/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/","path":"/software/onboard/","title":"Onboard Computer"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/","path":"/software/onboard/BlueOS-1.0/","title":"BlueOS"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/advanced-usage/":{"body":"General Information\nThis documentation page is for detailed information about the services and pages\nin the BlueOS web interface. For a higher level list and direct comparison of\nfeatures see the Overview instead.\nPirate Mode\nThe default BlueOS interface is simplified, and shows only the major tools that\nmost people are likely to find useful. Full functionality is available via \n\"Pirate Mode\", which can be enabled from the settings in the sidebar.\nNote that Pirate Mode is advanced/development mode, and should be used with care.\nThis documentation by default shows the full functionality interface, to provide\nan overview of all functionality instead of a limited subset, but if you're only\ninterested in the basic functionality you can click the button below:\n\n\n\n hide advanced functionality\n\n\nAny pages that are extended by (or only available in) Pirate Mode are shown in\ndark mode, and described with grey text.\nMain\n\n\nBased On: blueos-frontend | Port:80\n\n\nWhen you first open BlueOS, you'll see a window like the following:\n\n\n\n\n\n\nIndicators and Network Configuration\nOn the right side of the header you'll find:\nNotifications\n\nPress broom to clear notifications\nPress cog to toggle showing old messages\n\n\n\n\nEthernet + static IP management\n\n\nBased On: Cable Guy | Port:9090\n\n\nChoose between:\n\nA static IP\nA DHCP server\nA dynamic IP\n\n\n\n\n\n\n\nWifi network management\n\n\nBased On: Wifi Manager | Port:9000\n\n\n\nChoose a network to connect to\nForget, connect to, or a force a new password for a saved network\n\n\n\n\n\n\n\nSystem status\n\nHeartbeat icon pulses with vehicle heartbeat, and goes red if heartbeat is lost\nOn click shows onboard computer temperature, voltage, and current usage\nAdditional warning icons appear if a problem is detected on the onboard computer:\n\nHigh disk usage\nCPU overheating\nCPU throttling\nCPU under voltage\n\n\n\n\n\n\nSidebar\nThe burger menu at the top left of the header opens up the side-bar, for\nconveniently accessing available pages, tools, and services.\n\n\n\n\n\n\nSettings\n\n\n\n\n\n\n\nReset BlueOS settings\n\nRemove existing camera/endpoint/bridges configuration\n\n\nPirate mode toggle\n\nAccess or hide advanced functionality\nAdvanced users only - pirate mode is not recommended for normal use\n\n\nDark mode toggle\n\nChange between light and dark viewing modes\n\n\n\nPower\n\n\n\n\n\n\n\nPower off\n\nShut down onboard computer\nRecommended before turning off vehicle power\n\n\nReboot\n\nReboot onboard computer\n\n\n\n\n\nSoft restart\n\nDo a software-restart of BlueOS (without restarting the computer)\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\n\n\nRestart core container (same as \"Soft restart\")\n\nRestart the core BlueOS docker container\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\nFeedback\n\n\n\n\n\n\nSubmit feedback about BlueOS via:\n\nIssues on the GitHub repository (allows easily tracking changes, \nand notification when complete/fixed)\nPosts on the Blue Robotics forum (allows easy discussion with the community)\n\n\n\nMessages in the Blue Robotics Slack (for internal use)\n\n\nVehicle\nGeneral\nThe \"General\" page provides basic info about the active autopilot, along with\noptions to:\n\nChange board (select a connected board, or run an \nSITL simulation)\nRestart the autopilot\n\n\n\nStart the autopilot\nStop the autopilot\n\n\n\n\n\n\n\n\nFirmware\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nArduPilot family of firmwares only\nChoose firmware to install\n\nSelect from the online repository\n\nSelect vehicle type (Sub / Rover / Plane / Copter)\nSelect desired release and stability level\n\nOfficial - The latest stable release. Recommended for most users.\nStable - A production-ready release. Suitable for most users.\n\ne.g. Stable-4.0.3\n\n\nBeta - In-testing release, with new features and improvements, aiming\nto become stable. May have bugs.\nDev - Development branch, with all the newest features. Intentionally\nunstable (changes quickly), and possible untested/dangerous.\n\n\n\n\nUpload a custom firmware file from the surface computer\nRestore the default (ArduSub) firmware for the connected flight controller\n\n\nFlash firmware onto a connected compatible flight controller board\n\n\n\n\nLog Browser\n\n\nBased On: UAV LogViewer \n\n\n\nBuilt in log viewer for powerful analysis of vehicle telemetry\nCurrently only set up to fetch logs automatically from Linux-based autopilots\n\ne.g. Pixhawk not yet supported\n\n\n\n\n\n\nVideo\n\n\nBased On: MAVLink Camera Manager | Port:6020\n\n\n\nBlueOS automatically detects H264-encoded video streams\nThe first time BlueOS starts up it will auto-configure any cameras that are \nconnected at that time, with UDP streams counting up from port 5600\n\ne.g. a second camera at first startup would be streamed to port 5601\nAuto-configuration also occurs if the settings are reset\n\n\n\n\n\nIt's also possible to manually reset only the camera settings by deleting\nthe file /root/.config/mavlink-camera-manager/settings.json via\nthe file browser or the terminal, or starting\nthe camera manager inside the tmux session with the --reset flag\n\n\n\nAfter the initial startup, settings are saved and persistent across reboots\n\nFurther changes require manually re-configuring streams\nNew streams need to be manually added\n\nThe stream endpoint should be set to udp://<surface-IP>:<port>\ne.g. udp://192.168.2.1:5601\n\n\n\n\nThe streams are also presented via MAVLink, so QGroundControl (>=v4.1.7) can\ntoggle between them without needing to know specific ports.\n\n\n\n\n\n\n\nCamera settings (brightness, exposure, etc) that are exposed via UVC can be\nconfigured with the \"Configure\" button\nSwitching streams in QGroundControl while recording stops the current recording\n\nIf you are regularly switching streams it may be worth doing a screen recording\neither instead of or as well as recording the base video\n\n\nQGroundControl does not yet support displaying multiple streams simultaneously\n\nAdditional streams can be processed/viewed/recorded by the options discussed\nhere\n\n\nRaspberry Pi cameras are not yet supported in the pre-built releases/images\n\nIt is possible to do a custom installation on Raspberry Pi OS Buster or\nmanually enable the legacy camera stack on Bullseye if necessary\n\n\n\n\n\n\n\n\n\n\n(MAVLink) Endpoints\n\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nThe endpoint manager allows managing the serial and UDP MAVLink endpoints and\nrouting configurations.\n\n\n\n\n\n\nEndpoints intended for internal BlueOS operations are configured to the\nloopback IP 127.0.0.1\nServer endpoints for external use are configured to the localhost IP (e.g.\n0.0.0.0; 192.168.2.2 may also work)\nClient endpoints for external use are configured to the external IP (e.g.\n192.168.2.1)\nClient endpoints seem to operate more stably than server ones\nUnprotected endpoints can be removed or disabled:\n\n\n\n\n\n\n\nModifying an endpoint is not possible - a new one must be created instead\n\ne.g. some users may wish to set up a UDP endpoint for connecting to with\nPymavlink from the surface:\n\n\n\n\n\n\n\nTools\nSystem Information\n\n\nBased On: System Information | Port:6030\n\n\nThe system information page provides useful information about the processes,\nnetwork configuration, and computer system BlueOS is running on. It can be\nuseful for troubleshooting, and finding if a particular program is using\nexcessive resources.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nNetwork Test\n\n\nBased On: Pardal | Port:9120\n\n\nThe Network Test page measures real-time latency between BlueOS and the surface\ncomputer, and allows checking the upload and download speeds between them.\n\n\n\nVersion Chooser\n\n\nBased On: Version Chooser | Port:8081\n\n\nThe Version Chooser is a major component in the robust backbone of BlueOS. It\nruns independently from the main interface, and is monitored such that if it\nsomehow fails a backup version will be run in its place.\n\n\n\n\n\n\n\nThe simplified interface provides an easy way to update to the latest version\nthat is as stable or more stable than the currently installed version\n\n\n\nThe full interface supports easily changing forwards and backwards between\nversions\n\nPreviously-installed versions are kept locally on the device, unless\nmanually deleted, which provides an easy route for roll-backs to undesired\nchanges (e.g. during development)\n\n\nAllows loading remote versions (including from custom docker-hub repositories)\nAllows manually uploading docker images from the surface computer\nIf an undetected failure somehow occurs in BlueOS (or if a broken version gets\ninstalled) it's possible to easily roll back to a working version from\n\non the device\nmanual upload, or\ndownloaded from the internet\n\n\nIf necessary, the underlying service can be accessed directly\n\ne.g. http://blueos.local:8081\n\n\n\n\n\nAvailable Services\nThe Available Services page provides developer access to the underlying http\nserver interfaces of the services upon which BlueOS is based. Each service is\nlisted with \n\nthe port it is served at\na meaningful name\na web-page link using the active \nnetwork configuration, and where relevant\nits API documentation (in a live-testable form)\nthe current API version\n\nAny service that provides an http server with a\ntitle tag will be displayed.\nDocumentation can also be parsed if\n\nit follows the swagger/open api spec, and \nis available at /docs or /v1.0/ui\n\n\n\n\n\n\n(Serial-UDP) Bridges\n\n\n\nBased On: Bridget | Port:27353\n\n\n\nThe Bridges page allows creating high performance links between serial devices\nthat are connected to the onboard computer, to a UDP port.\n\n\n\n\n\n\nNOTE: UDP-based systems do not guarantee packet delivery or sequential alignment\nBridges to the Control Station Computer\nwill generally use the localhost IP 0.0.0.0, which creates a UDP server that waits\nfor a UDP client on the control computer to connect to it\n\nother IP addesses create a UDP client on the onboard computer, which expects the\nserial device to initiate communication before the connected UDP server (on the\ncontrol computer) can respond\n\n\nBridges to internal programs can use the loopback IP 127.0.0.1, which creates a\nlocal server\n\n\n\n\n\n\nFile Browser\n\n\n\nBased On: File Browser | Port:7777\n\n\n\nThe File Browser allows viewing, editing, downloading, and uploading BlueOS files\n\n\n\n\n\n\nNOTE: There is \na known issue\nwhere the File Browser does not load properly with certain browsers. It is\nfixed in the 1.1.x beta releases, but in the interim for current stable\nreleases it's possible to access the underlying service at \nhttp://blueos.local:7777\n\n\n\nNMEA Injector\n\n\n\nBased On: NMEA Injector | Port:2748\n\n\n\n\nConveys GPS positions (from an NMEA device) to the vehicle via MAVLink messages\n\n\n\n\n\n\n\nSetup requires a UDP socket for the NMEA device to connect to, and a MAVLink ID\nfor the component that will send the location data to the vehicle\n\n\n\n\n\n\nTerminal\n\n\n\nBased On: ttyd | Port:8088\n\n\n\nThe terminal provides\n\nA tmux session\nDirect access into the core BlueOS docker container\nReady access to the tmux sessions of the core services (CTRL+b s)\n\nUseful for seeing logs as they update live\nCan kill services if necessary\n\n\nAccess to the underlying device via the red-pill utility\n\nCan return to the docker using the exit command, or pressing CTRL+d\n\n\n\n\n\n\n\n\nMAVLink Inspector\n\n\n\nBased On: MAVLink2Rest | Port:6040\n\n\n\nThe MAVLink Inspector provides real-time access to the MAVLink messages being\nsent to the topside computer. It is possible to\n\nfilter for particular messages\nview past and current messages\nclick on messages to see their full details\n\n\n\n\n\n\nFuture improvements will include plotting and comparisons, along with more\npowerful filtering options.\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/advanced-usage/","path":"/software/onboard/BlueOS-1.0/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/getting-started/":{"body":"Network Configuration\nYour topside computer’s network configuration should be the same as for the previous Companion software.\nTo configure it, you can follow our network setup instructions.\nNew Web Interface\nBlueOS is designed to be a modular collection of services, which generally each provide a REST API, documentation, and a development webpage.\nThe web interface monitors the autopilot and other main software components, and also listens for and displays connections from other HTTP servers (on TCP ports) and docker containers, so you can keep your own integrations isolated from the normal BlueOS release/update cycle.\nInterface Access\nYou can access BlueOS via the old IP address (192.168.2.2) or via blueos.local, to connect with it via wifi, it's possible to use blueos-wifi.local.\nInterface Features\nWhen you first open the web interface, you'll see a page that looks like this:\n\nOf particular note is the header, which contains:\n\nthe main hamburger menu (top left corner), for managing your flight controller and accessing some useful tools, and\nhealth, wifi, network, and notification indicators (top right corner)\n\nUpdating / Releases\nBlueOS supports multiple release types - we recommend the latest stable version for most people. Releases and change-logs are available on the GitHub releases page.\nConnect Wifi\nWhen starting out, it's important to connect to wifi so you can update to the latest suitable release.\n\n\nFirst, click the wifi indicator to scan for available wifi networks\n\n\n\nSelect the desired network, type in the password, and click connect\n\n\n\nOnce connected, the wifi icon will change to show the signal strength, and the connected wifi network will be selected on the menu\n\n\n\nSelect Version\nNow that your BlueOS has an internet connection, you can perform the update to the latest available version.\n\n\nClick on the hamburger menu\n\n\n\nUnder tools, select Version-Chooser\n\n\n\nIf you're already on the latest version, the right side of your Local Version will be blank. If not, you should see a blue Update button.\n\n\n\nOnce the update button is clicked the update process will run.\nPlease wait until it finishes - it will automatically reload the webpage for you.\n\n\nCamera Streams\nBlueOS is capable of configuring and streaming multiple cameras simultaneously. The first time it boots, it will automatically detect any connected H264-capable cameras and start streaming them. If not, make sure your camera is properly connected, and that BlueOS is on the latest available version. Reset settings and restart BlueOS if necessary.\nAdditional information is available in the Video section of the Advanced Usage page.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/getting-started/","path":"/software/onboard/BlueOS-1.0/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/installation/":{"body":"Download\nBlueOS is a ground-up rewrite software to replace Companion. To use it you'll need to download and flash an SD card.\nIt is compatible with both Raspberry Pi 3 and Raspberry Pi 4.\nThe latest available stable version is:\n\n\nFlash\nWe recommend using a fresh SD card, with at least 4GB capacity.\n\nDownload and install Balena Etcher\nInsert the SD card to your computer (you may need an SD card reader)\nOpen Etcher, select the image you just downloaded, and flash it onto the SD card\n\nRun\n\nEject your SD card with the new BlueOS software\nInsert it into your Raspberry Pi, and power it up!\n\nThe first boot may take a couple of minutes, as it expands the filesystem to the new SD card capacity. It should take around 2 minutes for a 16GB class 10 SD card.\nUpdates\nOnce BlueOS is installed, updating to a different version is simple via the Version Chooser.\nManual Installation\nFor developers with alternative hardware, or who would rather install over a pre-installed base operating system / image, BlueOS provides an install directory with utilities to help perform manual/software-based installations.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/installation/","path":"/software/onboard/BlueOS-1.0/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/overview/":{"body":"A bit of context...\nThe original Companion project (started in 2015) was originally created with the simple intent to route an underwater vehicle's video stream and communications to the surface computer, and provide some basic configuration of those features and the vehicle firmware. The simple scope was great to get things started, but also meant that new and complex features weren't designed in from the start, so maintenance and developing functionality have been increasingly challenging.\nWith lessons learned on useful features and software architecture requirements, BlueOS was designed and created from the ground up to fit the requirements of the onboard computer system we want to have - with room to grow into a true operating system for the vehicle. BlueOS is modular to the heart, which makes it portable, robust to update, and extensible. \nThere are many upcoming features, including support for third party packages, applications, advanced data logging, and much more! We're super excited about our future with BlueOS, and we can't wait for you to join us and try it out! 😄\nBlueOS principles and goals\nAs the core development team we've tried to envision the future of the onboard computer, and the features that will require. Our initial ideas have been distilled into the following core concepts, many of which are already built in to the BlueOS of today:\n\nAn interface that is simple by default but powerful when needed - the user has the power to change anything they desire and customize the full experience\nDesigned to focus on what matters, improving user access to information and controls with a human-friendly UI and UX\nMake complex tasks simpler and improve ease of use by reusing design patterns from other applications (based on the material UI guidelines)\nAdvanced error handling and detection, making any problems clear to the user and developers, along with how to fix them\nSimplify development, providing full access to our services API and modular development model\nEncourage contributions, the project is open source!\nPortable and flexible, you should be able to run on a Raspberry Pi 3/4 or any SBC with Linux operating system, contributions are welcomed\nHighly functional with low CPU usage, the entire system is built to run efficiently\nDeveloped on solid foundations, critical parts or intensive workforce services are designed using the most advanced languages and features available for stability\n\nSome of these principles will only be evident in future releases, but the underlying software architecture and organization have been designed from the ground up to support and enable them.\nFeature Comparison\nBlueOS has most of the features from the old Companion, and some hotly-requested new ones too!\nFeatureCompanionBlueOSBoth\nHardwareRaspberry Pi 3B requiredRaspberry Pi 3B / 3B+ / 4B supported;Other Linux-based SBCs images to come;You can install from scratch using the installation script in any Linux computer. (Modifications may be necessary for your hardware configuration)\nWIFI managerConnect to a single networkConnect to and manage multiple networks, like a cellphone or computer WIFI managerVisible and hidden networks supported\nEthernet managerSingle DHCP or static networkMultiple static IPs and DHCP configurationDHCP client or server\nCamera managerSelect a single camera to stream over UDPSupports Raspberry Pi cameras (except HQ Camera)Supports a single audio stream over UDPEasily manage multiple streamsUDP, RTSP and support coming soon for WebRTC (#1000)Raspberry Pi camerasnot yet supported (#991)Audio streamingnot yet supported (#990)H264-encoded streams only\nNMEA support--Conveys GPS positions to the vehicle\nPing Sonar DevicesPing Sonar distance estimates can be sent via MAVLinkDevices can be hot-pluggedMAVLink pipelinenot yet supported (#264)Ping Sonar and Ping360 can connect with Ping Viewer\nArduPilot FirmwareArduSub-only downloadsGeneral ArduPilot downloads;select vehicle to updatestable, beta, and devel releases, custom uploads, and restore default parameters\nEndpoints--Create and manage UDP, TCP, and serial MAVLink endpoints\nBridges--Create and manage bridges between serial and UDP endpoints\nFile Browser-Edit files from the browserDownload and upload files\nLog managerSsh/terminal onlyDownload and manage logs from the browser\nLog Viewer-Visualise and analyse logs from the browser\nWeb TerminalAccess Linux terminal from the browserAccess Linux terminal with a tmux session from the browserWeb terminal client\nVersion ChooserUpdate to latest stable onlyEasily update/downgrade between versions, including locally stored;Includes stable, beta, and master releases*;Available even if main site failing\nSystem informationBasic usage statistics, list of connected devicesProvides all the necessary information about the hardware, operating system, running processes, CPU, memory, disk, network usage and status\nNotification system-Notifications about issues, new releases, and the status of your system.\nNetwork test-Check real time latencyCheck upload and download speed from the surface computer to the vehicle\nMAVLink inspectorSee latest MAVLink messages via MAVLink2RESTsee and inspect MAVLink messages in real time from the browserMAVLink2REST is available\nWater LinkedSupports UGPS and DVL-A50DVL-A50 package available;UGPS not yet supported\n\nRelease Types\nBlueOS has multiple release types, to allow choosing your preferred balance between access to the latest fixes and improvements, and stability of the software. The three release types are:\n\nStable: Officially tested and validated\n\nStable versions with long term support\nRecommended for most users\n\n\nBeta: Quick-passed rolling releases with new features, bug fixes and general improvements\n\nVersions that will be released after an internal test\nA taste of what's to come\n\n\nMaster: Rapidly-passed bleeding edge development releases 🔥\n\nThe very latest features, that may not have been tested yet\nHighly volatile, generally not recommended\nFor those who want to live in the future\n\n\n\nWhen BlueOS is connected to the internet, a notification appears if a newer version of the same release or a stabler type is available. E.g: When using a Stable version, only new Stable versions will trigger a notification. If using a Beta release, newer Beta and Stable releases will trigger a notification. When running Master, any release type newer than the active one will trigger a new update notification. This helps to ensure that any updates will be as or more stable than your current version, unless you intentionally change to a less stable release type.\nIt's worth noting that Version Chooser in general offers several major robustness and versatility improvements over the previous 'latest update only' approach, which should benefit both users and developers.\nQuick links\n\nDocumentation\nSource code\nReleases, changelogs, files\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/overview/","path":"/software/onboard/BlueOS-1.0/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/","path":"/software/onboard/BlueOS-1.1/","title":"BlueOS"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/advanced-usage/":{"body":"General Information\nThis documentation page is for detailed information about the services and pages\nin the BlueOS web interface. For a higher level list and direct comparison of\nfeatures see the Overview instead.\nPirate Mode\nThe default BlueOS interface is simplified, and shows only the major tools that\nmost people are likely to find useful. Full functionality is available via \n\"Pirate Mode\", which can be enabled from the header bar.\nNote that Pirate Mode is advanced/development mode, and should be used with care.\nThis documentation by default shows the full functionality interface, to provide\nan overview of all functionality instead of a limited subset, but if you're only\ninterested in the basic functionality you can click the button below:\n\n\n\n hide advanced functionality\n\n\nFor clarity of this documentation, any pages that are extended by (or only available\nin) Pirate Mode are shown in dark mode, and described\nwith grey text.\nInterface Overview\n\n\nBased On: blueos-frontend | Port:80\n\n\nWhen you first open BlueOS, you'll see a window like the following:\n\n\n\nHeader: Indicators and BlueOS Configuration\nOn the left side of the header there is space for widgets, which can be accessed by\nright clicking and selecting the desired widgets to display. This system is very new,\nso the available widget options are currently quite limited.\n\n\n\n\nOn the right side of the header you'll find:\nNotifications\n\n\n\n\nPress the broom to clear notifications\nPress the gear to toggle showing old messages\n\nWired network management (ethernet / USB-OTG)\n\n\nBased On: Cable Guy | Port:9090\n\n\nFor each interface, choose between:\n\nA static IP\nA dynamic IP\nA DHCP server\n\nIt is possible to have multiple connections per interface type.\n\n\n\n\n\n\nWifi + Hotspot network management\n\n\nBased On: Wifi Manager | Port:9000\n\n\n\nChoose a wifi network to connect to\n\nThe BlueOS web interface is accessible via \nhttp://blueos-wifi.local when\nconnected to the same wifi network as your device (including a mobile phone)\n\n\n\n\n\n\n\nForget, connect to, or a force a new password for a saved network\n\n\n\n\n\nConfigure or turn on/off the BlueOS wireless hotspot, or display a QR code to\neasily connect to it from a phone\n\nThe hotspot SSID is named BlueOS (******) by default, where the asterisk\nfield varies for each system\n\nThe default password for the hotspot is blueosap\n\n\nThe BlueOS web interface is accessible via \nhttp://blueos-hotspot.local and\nhttp://192.168.42.1 when your device is connected to\nthe BlueOS hotspot network\n\n\n\n\n\n\nInternet Status and Management\n\nSee whether the vehicle is connected to the internet\n\n\n\n\n\n\nConfigure network priority ordering\n\nDetermines which network interface is used for internet connection\nGenerally wlan0 should be at the top (for internet via wifi)\nMove eth0 to the top if using internet passthrough via the tether\n\n\n\n\n\n\n\n\n\nView and configure DNS name servers\n\n\n\n\n\nDisplay Mode Management\n\n\n\n\nPirate mode can be toggled via the happy robot /\nskull-and-crossbones icon\n\nAccess or hide advanced functionality\nAdvanced users only - pirate mode is not recommended for normal use\n\n\nLight and dark display modes can be toggled between with the sun / moon icon\n\nSystem status\n\n\n\n\nHeartbeat icon pulses with vehicle heartbeat, and goes red if heartbeat is lost\nOn click shows onboard computer temperature, voltage, and current usage\nAdditional warning icons appear if a problem is detected on the onboard computer:\n\nHigh disk usage\nCPU overheating\nCPU throttling\nCPU under voltage\nConnected wirelessly (instead of through a tether)\n\n\n\nSidebar\nThe burger menu at the top left of the header opens up the sidebar, for\nconveniently accessing available pages, tools, and services. When the page\nis wide enough, the sidebar automatically stays open.\n\n\n\n\n\n\n\nThe theme content at the top is configurable\n\n\n\nThe development documentation\nspecifies the requirements for a service page to appear in the sidebar\n\n\nBlueOS Settings\n\n\n\n\nReset BlueOS settings\n\nRemove existing camera/endpoint/bridges configuration\n\n\nRemove log files from BlueOS services (to reduce space usage on the SD card)\nDownload log files from BlueOS services to report a problem\n\nOld logs are aggregated and kept as zip files\n\n\nRe-enable the configuration wizard\n\nPower\n\n\n\n\n\n\n\nPower off\n\nShut down onboard computer\nRecommended before turning off vehicle power\n\n\nReboot\n\nReboot onboard computer\n\n\n\n\n\nSoft restart\n\nDo a software-restart of BlueOS (without restarting the computer)\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\n\n\nRestart core container (same as \"Soft restart\")\n\nRestart the core BlueOS docker container\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\nFeedback\n\n\n\nSubmit feedback about BlueOS via:\n\nIssues on the GitHub repository\n\nallows easily tracking changes, \nand notification when complete/fixed\n\n\nPosts on the Blue Robotics forum\n\nallows easy discussion with the community\n\n\n\nDashboard\nThe \"Dashboard\" page provides an overview of the available pages. In future it\nwill provide an overview of the vehicle state and main configuration options.\nClick the BlueOS logo to return to the dashboard at any point.\n\n\n\n\n\n\nBlueOS Service Pages\nPages are sorted alphabetically.\nAutopilot Firmware\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\nThe Autopilot Firmware page provides basic information about the active\nautopilot, along with options to:\n\n\nChange board (select a connected board, or run an \nSITL simulation)\nStart the autopilot\nStop the autopilot\n\n\n\nRestart the autopilot\nUpdate the firmware\n\nArduPilot family of firmwares only\nChoose firmware to install\n\nSelect from the online repository\n\nSelect vehicle type (Sub / Rover / Plane / Copter)\nSelect desired release and stability level\n\nStable - A production-ready release.\n\nThe latest Stable is recommended for most users.\ne.g. Stable-4.1.1\n\n\nBeta - In-testing release, with new features and improvements, aiming\nto become stable. May have bugs.\nDev - Development branch, with all the newest features. Intentionally\nunstable (changes quickly), and possible untested/dangerous.\n\n\n\n\nUpload a custom firmware file from the surface computer\nRestore the default (ArduSub) firmware for the connected flight controller\n\n\nFlash firmware onto a connected compatible\nflight controller board\n\n\n\n\n\n\n\n\n\n\nSystems with a \nNavigator\nflight controller also have the option to configure serial-compatible ports from\nthe onboard computer (including USB ports) as serial ports accessible to the\nautopilot.\n\n\n\n\nAutopilot Parameters\nNew in 1.1\nThe Autopilot Parameters page allows checking and changing the autopilot's configuration.\n\nIncludes fuzzy searching of names and descriptions, to help find relevant parameters\nAllows loading parameters from a file, and saving the current parameters to a file\n\n\n\n\n\nAvailable Services\nThe Available Services page provides developer access to the underlying http\nserver interfaces of the services upon which BlueOS is based. Each service is\nlisted with \n\nthe port it is served at\na meaningful name\na web-page link using the active \nnetwork configuration\n\nand where relevant\n\nits API documentation (in a live-testable form)\nthe current API version\n\nThe individual services are documented in the development documentation.\n\n\n\n\n\nBag Editor\n\n\n\nBased On: Bag of Holding | Port:9101\n\n\n\nThe Bag Editor is a helper service for advanced users, which allows modifying the\ndatabase used to handle frontend interface changes.\n\n\n\n\nBlueOS Version\n\n\nBased On: Version Chooser | Port:8081\n\n\nThe Version Chooser is a major component in the robust backbone of BlueOS. It\nruns independently from the main interface, and is monitored such that if it\nsomehow fails a backup version will be run in its place.\n\n\n\n\n\n\n\nThe simplified interface provides an easy way to update to the latest version\nthat is as stable or more stable than the currently installed version\n\n\n\nThe full interface supports easily changing forwards and backwards between\nversions\n\nPreviously-installed versions are kept locally on the device, unless\nmanually deleted, which provides an easy route for roll-backs to undesired\nchanges (e.g. during development)\n\n\nAllows updating the bootstrap image to match the current version\nAllows loading remote versions (including from custom docker-hub repositories)\nAllows manually uploading docker images from the surface computer\nIf an undetected failure somehow occurs in BlueOS (or if a broken version gets\ninstalled) it's possible to easily roll back to a working version from\n\non the device\nmanual upload, or\ndownloaded from the internet\n\n\nIf necessary, the underlying service can be accessed directly\n\ne.g. http://blueos.local:8081\n\n\n\n\n\nFile Browser\n\n\n\nBased On: File Browser | Port:7777\n\n\n\nThe File Browser allows viewing, editing, downloading, and uploading BlueOS files.\n\n\n\n\nLog Browser\n\n\nBased On: UAV LogViewer \n\n\n\nAllows downloading telemetry .bin logs from Linux-based autopilots\n\nSet the BRD_RTC_TYPES autopilot parameter to include MAVLINK_SYSTEM_TIME\nso the filenames use timestamps\n\n\nCan stream logs from external flight controllers (e.g. Pixhawks) if the\nLOG_BACKEND_TYPE autopilot parameter is set to MAVLink\n\nMay be inconsistent\n\n\n\n\n\n\n\nPress the green play button to access the built in Log Viewer, to visualise and\nanalyse vehicle telemetry (including position if a positioning system is equipped)\n\n\n\n\n\nMAVLink Endpoints\n\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nThe MAVLink Endpoints manager allows configuring the serial, UDP, and TCP\nendpoints for MAVLink-based services and programs to access.\n\n\n\n\n\n\nEndpoints intended for internal BlueOS operations are configured to the\nloopback IP 127.0.0.1\nServer endpoints for external use are configured to the localhost IP\n\ne.g. 0.0.0.0\n192.168.2.2 may also work\n\n\nClient endpoints for external use are configured to the external IP\n\ne.g. 192.168.2.1 for connecting to a UDP server on the Control Station Computer\n\n\nClient endpoints seem to operate more stably than server ones\nUnprotected endpoints can be removed or disabled\nModifying an endpoint is not possible - a new one must be created instead\n\ne.g. some users may wish to set up a UDP endpoint for connecting to with\nPymavlink from the surface:\n\n\n\n\n\n\n\n\nMAVLink Inspector\n\n\n\nBased On: MAVLink2Rest | Port:6040\n\n\n\nThe MAVLink Inspector provides real-time access to the MAVLink messages being\nsent to the topside computer. It is possible to\n\nfilter for particular messages\nview past and current messages\nclick on messages to see their full details\n\n\n\n\n\n\nFuture improvements will include plotting and comparisons, along with more\npowerful filtering options.\nFor tracking the latest value of a single message type, use the \"watcher\"\nfunctionality of the MAVLink2REST service (access via the\nAvailable Services page).\n\nNetwork Test\n\n\nBased On: Pardal | Port:9120\n\n\nThe Local Network Test measures real-time latency between BlueOS and the surface\ncomputer, and allows checking the upload and download speeds between them.\nA plot is provided of each test, to help diagnose intermittent issues.\n\n\n\nThe Internet Speed Test allows measuring the latency and upload and download \nspeeds between BlueOS and its internet connection (if one is available).\n\n\n\n\nNMEA Injector\n\n\n\nBased On: NMEA Injector | Port:2748\n\n\n\n\nConveys GPS positions (from an NMEA device) to the vehicle via MAVLink messages\n\n\n\n\n\n\n\nSetup requires a UDP or TCP socket for the NMEA device to connect to, and a MAVLink ID\nfor the component that will send the location data to the vehicle\n\n\n\n\n\nPing Sonar Devices\n\n\nBased On: Ping Service | Port:9110\n\n\nNew in 1.1\nThe Ping Sonar Devices page shows any detected \nsonars from the Ping family,\nincluding ethernet-configured Ping360s\nthat are visible on the local network (e.g. via an \nEthernet Switch).\n\nAllows configuring Ping Sonar distance estimates to send as MAVLink\nDISTANCE_SENSOR\nmessages to the autopilot, for viewing in the Control Station Software and\nlogging as part of the telemetry stream\nProvides a viewing utility for devices connected via USB/serial, to show\nwhich port they are plugged into \n\n\n\n\n\nSerial Bridges\n\n\n\nBased On: Bridget | Port:27353\n\n\n\nThe Serial Bridges page allows creating high performance links between serial\ndevices that are connected to the onboard computer, to a UDP port. \nReplaces the Routing\nfunctionality from the old Companion Software.\nFor making connections to the autopilot, see MAVLink Endpoints.\n\n\n\n\n\n\nNOTE: UDP-based systems do not guarantee packet delivery or sequential alignment\nBridges to the Control Station Computer\nwill generally use the localhost IP 0.0.0.0, which creates a UDP server that waits\nfor a UDP client on the control computer to connect to it\n\nother IP addesses create a UDP client on the onboard computer, which expects the\nserial device to initiate communication before the connected UDP server (on the\ncontrol computer) can respond\n\n\nBridges to internal programs can use the loopback IP 127.0.0.1, which creates a\nlocal server\n\n\n\n\n\nSystem Information\n\n\nBased On: System Information | Port:6030\n\n\nThe System Information page provides useful information about the processes,\nnetwork configuration, and computer system BlueOS is running on. It can be\nuseful for troubleshooting, and finding if a particular program is using\nexcessive resources.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nUpdate buttons are provided if the device is not running the latest stable versions of\nthe Raspberry Pi firmware or USB controller.\n\n\n\n\n\nTerminal\n\n\n\nBased On: ttyd | Port:8088\n\n\n\nThe Terminal provides\n\nA tmux session\n\nCan split horizontally (CTRL+b \") and vertically (CTRL+b %), and use cursor\nto resize the panels\nFor more advanced tips, check out the\ntmux cheat sheet website\n\n\nDirect access into the core BlueOS docker container\nReady access to the tmux sessions of the core services (CTRL+b s)\n\nUseful for seeing logs as they update live\nCan kill services if necessary\n\n\nAccess to the underlying device via the red-pill utility\n\nCan return to the core container using the exit command, or pressing CTRL+d\nCan list available docker images (including extensions) with docker image list\nCan list active docker containers (including extensions) with docker ps -a\n\n\n\n\n\n\n\nVehicle Setup\nNew in 1.1\nThe Vehicle Setup page provides an overview of the vehicle, including its sensors and\nperipherals. The 3D model can be rotated, and can be panned by clicking and dragging\nwhile holding SHIFT. The camera icon can be used to capture a screenshot of the current\nview of the model, with a transparent background.\n\nIt is possible to override the displayed 3D model by placing an appropriate .glb\nfile at userdata/modeloverrides/<vehicle_type>/<vehicle_frame>.glb (e.g.\nuserdata/modeloverrides/sub/VECTORED_6DOF.glb), or userdata/modeloverrides/ALL.glb.\nDocumentation for the recommended process for creating a .glb file from a vehicle\nmodel is coming soon.\n\n\n\n\nThe PWM Outputs tab allows configuring the servo function mappings\n(for motors, lights, camera tilt, etc), as well as manually testing the motors.\n\n\n\nThe Configure tab allows loading default parameter sets for a particular vehicle type.\n\n\n\nIn future this page will also allow \n\nrunning ArduSub's automatic motor direction detection\ncalibrating the autopilot sensors\nusing custom highlighting logic for model components\ndisplaying device statuses from extensions\n\nVideo Streams\n\n\nBased On: MAVLink Camera Manager | Port:6020\n\n\n\nBlueOS automatically detects H264-encoded video streams\n\n\n\nMJPG and YUYV encoded streams are also detected in pirate mode,\nbut currently only work when configured as RTSP streams\n\n\n\nThe first time BlueOS starts up it will auto-configure any cameras that are \nconnected at that time, with UDP streams counting up from port 5600\n\ne.g. a second camera at first startup would be streamed to port 5601\nAuto-configuration also occurs if the settings are reset\n\napplies to both global settings resets (via the sidebar) and\ncamera manager settings resets (via the settings icon in the bottom right)\n\n\n\n\nAfter the initial startup, settings are saved and persistent across reboots\n\nFurther changes require manually re-configuring streams\nNew streams need to be manually added\n\nUDP stream endpoints should be set to udp://<surface-IP>:<port>\n\ne.g. udp://192.168.2.1:5602\n\n\nRTSP stream endpoints are auto-configured with appropriate values\n\n\nOne video input can have multiple output streams by clicking the blue +\nsymbol during stream configuration\n\nThis only works for streams of the same endpoint type (e.g. it is not\ncurrently possible to mix UDP and RTSP output streams for the same input)\n\n\n\n\n\n\n\n\n\n\n\n\nBy default the streams are also presented via MAVLink, so QGroundControl (>=v4.1.7)\ncan toggle between them without needing to know specific ports\n\n\n\nIt is possible to specify a stream as \"thermal\", which allows it to be\noverlaid on another stream in some viewing applications\n\n\n\n\n\n\nCamera settings (brightness, exposure, etc) that are exposed via UVC can be\nconfigured with the \"Configure\" button\n\n\n\n\n\nCamera settings are also exposed via the\nMAVLink camera protocol, so are\ncontrollable in QGroundControl\nSwitching streams in QGroundControl while recording stops the current recording\n\nIf you are regularly switching streams it may be worth doing a screen recording\neither instead of or as well as recording the base video\n\n\nQGroundControl does not yet support displaying multiple streams simultaneously\n\nAdditional streams can be processed/viewed/recorded by the options discussed\nhere\n\nNote that some playback applications (e.g. VLC) treat odd-numbered ports\nas audio channels, so relevant video streams should only use even-numbered\nports\nUDP streams have the option to download an SDP file (or copy a URL to it),\nfor easier video playback in applications like VLC (New in 1.1)\n\n\n\n\nRaspberry Pi cameras are supported (New in 1.1)\n\nDetection requires turning on legacy camera support:\n\nturn on via the settings button in the buttom right corner\nreboot the onboard computer to enable\n\n\n\n\n\n\n\nIt is possible to use the \"Redirect source\" element to make an ethernet camera\navailable via the BlueOS camera manager, which allows QGroundControl to detect\nit automatically (via MAVLink)\n\n\n\n\n\n\n\n\nExtensions\nExtensions Manager\nNew in 1.1\n\n\nBased On: Kraken | Port:9134\n\n\nThe Extensions Manager is in charge of fetching, installing, updating, and managing\nExtensions.\nThe Store tab shows\nthe available extensions,\nwhich can be clicked to see information about the extension (including the settings,\npermissions requirements, and developer information), and allows selecting the version\nto install:\n\n\n\n\n\n\nThe Installed tab shows the resource usage of the installed extensions, and allows\nconfiguring them, checking their logs, and restarting or disabling them:\n\n\n\n\n\n\n\nDevelopers can install custom extensions as relevant.\n\n\n\n\nInterface Theme\nTheme Content\nVehicle Icon\n\nsquare images work best\nconsider getting an image of your 3D model from the Vehicle Setup page\n\n\n\n\nVehicle Name and mDNS Hostname\n\nthe vehicle name makes it easier to determine which vehicle you are connected to\nchanging the mDNS hostname changes the address you connect to for the browser interface\n\nethernet tether -> http://custom.local\nwifi connection -> http://custom-wifi.local\nBlueOS hotspot -> http://custom-hotspot.local\nhttp://blueos.local will still be available for direct ethernet\nconnections, as a fallback in case the custom name is forgotten\n\n\n\n\n\n\nCompany Logo\n\nsquare images work best\n\n\n\n\n\nTheme Styling\nIt is possible to customise the styling of the BlueOS interface by adding a\ntheme_style.css file at userdata/styles/ in the File Browser.\nThe File Browser can also be used to modify the file, in which case the styles\nare updated at the next page refresh after the file is saved. The save button is\nin the top right corner.\nCSS is commonly used for styling\nHTML webpages, and has an extensive set of features available. For the purposes of\nadjusting the BlueOS theme, the most important thing to understand is\nhow to specify colors. It can be\nhelpful to use tools like colorhexa when\nchoosing a palette of colors, including for checking accessibility for various\ncolor vision deficiencies.\nFor reference, here is an example with most of the main BlueOS colors changed,\ntogether with the theme file that created it:\n\n\n\n\n\n:root {\n --v-primary-base: #CAB1E5 !important; /* sidebar highlights, submit buttons */\n --v-info-base: #BA55E5 !important; /* info boxes (often same as primary base) */\n --v-warning-base: #EDD1E5 !important; /* warnings and skip buttons */\n --v-error-base: #AC1D1C !important; /* notifications, pirate icons, cancel/delete buttons */\n --v-anchor-base: #5A11ED !important; /* hyperlinks */\n}\n\n/* light theme background, light to dark */\ndiv.light-background {\n background-color: #BAFF1E !important;\n background-image: linear-gradient(160deg, #BAFF1E 0%, #5CA1E5 100%) !important;\n}\n\n/* dark theme background, light to dark */\ndiv.dark-background {\n background-color: #5EABED !important;\n background-image: linear-gradient(160deg, #5EABED 0%, #BA55E5 100%) !important;\n}\n\n/* light theme header bar background, light to dark, translucent */\nheader.light-background-glass {\n background-color: #DEADBA55 !important; /* fallback if gradient not available */\n background-image: linear-gradient(160deg, #DEADBA88 0%, #5111CA88 100%) !important;\n backdrop-filter: blur(4.5px) !important;\n -webkit-backdrop-filter: blur(10px) !important;\n}\n\n/* dark theme header bar background, light to dark, translucent */\nheader.dark-background-glass {\n background-color: #5111CA55 !important; /* fallback if gradient not available */\n background-image: linear-gradient(160deg, #5111CA88 0%, #0B5E5588 100%) !important;\n backdrop-filter: blur(4.5px) !important;\n -webkit-backdrop-filter: blur(10px) !important;\n}\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/advanced-usage/","path":"/software/onboard/BlueOS-1.1/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/","path":"/software/onboard/BlueOS-1.1/development/","title":"Development"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/bootstrap/":{"body":"Function\nBlueOS-bootstrap is responsible for making sure BlueOS-core is running as expected, as well as gracefully restarting core during BlueOS updates and if it is detected to have unexpectedly stopped/crashed. \nFor an update the current core image gets shut down and the newly installed image gets started in its place, whereas in the case of a crash bootstrap reverts to running a known working core image, which is currently the one tagged as factory (which is whatever it was first flashed with), so that it's at least possible to access the interface.\nCodebase\nBlueOS-bootstrap is open source, and lives within the broader BlueOS GitHub repository. Issues can be used to report bugs or suggest features, and Pull Requests fixing bugs or adding new features are welcomed.\nBlueOS is set up with a GitHub Action that automatically builds and deploys a BlueOS-bootstrap image when changes are pushed to the GitHub repository.\nIf you want to make use of that functionality you'll need a DockerHub account, and will need to specify your DockerHub username (DOCKER_USERNAME) and password (DOCKER_PASSWORD) in your fork's GitHub secrets.\nUpdating\nBlueOS-bootstrap versions are built at the same time as BlueOS-core versions, and they get bundled together in the Raspberry Pi images that can be flashed onto an SD card to install BlueOS onto it. For official BlueOS releases it is possible to update the BlueOS-bootstrap image to match the BlueOS release through the BlueOS Version chooser, and is the recommended process.\nManually updating to a non-matched and/or custom bootstrap image requires using the Terminal:\n# drop down from blueos-core into the underlying operating system:\nred-pill\n# get the running bootstrap container id\nCURRENT_BOOTSTRAP_CONTAINER=$(docker ps -aq --filter name=blueos-bootstrap)\n# stop the bootstrap container (takes 10 seconds)\ndocker stop $CURRENT_BOOTSTRAP_CONTAINER\n# remove the container from local memory\n# (the underlying image remains on the system, unused)\ndocker container rm $CURRENT_BOOTSTRAP_CONTAINER\n# specify the Docker image source (use your account if testing a change)\nBOOTSTRAP_REPO=bluerobotics\nBOOTSTRAP_IMAGE=blueos-bootstrap\n# specify the new version to use (e.g. 1.1.0-beta.27, or master)\nNEW_BOOTSTRAP_VERSION=1.1.0-beta.27\n# start running the new version\n# (will automatically download if it's not already available locally)\ndocker run \\\n -d -t \\\n --restart unless-stopped \\\n --name blueos-bootstrap \\\n --net=host \\\n -v /root/.config/blueos/bootstrap:/root/.config/bootstrap \\\n -v /var/run/docker.sock:/var/run/docker.sock \\\n -e BLUEOS_CONFIG_PATH=/root/.config/blueos \\\n $BOOTSTRAP_REPO/$BOOTSTRAP_IMAGE:$NEW_BOOTSTRAP_VERSION\n# view the logs, to check for any error or progress messages\ndocker logs -f $BOOTSTRAP_IMAGE\n# press ctrl+c to return to the terminal, and you're done\n# if you want, type 'exit' or 'logout' to return to the BlueOS-core container\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/bootstrap/","path":"/software/onboard/BlueOS-1.1/development/bootstrap/","title":"BlueOS-bootstrap"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/core/":{"body":"Function\nBlueOS-core is the body of BlueOS, and runs all of the built in services, along with the main web interface. It contains the key components for running, configuring, and operating a robotic vehicle, as well as a variety of convenience features to aid with system introspection and development.\nCodebase\nBlueOS-core is open source, and lives within the broader BlueOS GitHub repository. Issues can be used to report bugs or suggest features, and Pull Requests fixing bugs or adding new features are welcomed.\nBlueOS is set up with a GitHub Action that automatically builds and deploys a BlueOS-core image when changes are pushed to the GitHub repository.\nIf you want to make use of that functionality you'll need a DockerHub account, and will need to specify your DockerHub username (DOCKER_USERNAME) and password (DOCKER_PASSWORD) in your fork's GitHub secrets.\nThe BlueOS Version chooser can be used to install a custom image by either\n\nChanging the \"Remote\" to your DockerHub repository, then installing like you would normally\nDoing a \"Manual Upload\" of a .tar compressed BlueOS-core Docker image\n\nStructure\n\nDockerfile (and corresponding .dockerignore file) for building the BlueOS-core Docker image\n**/install-*.sh scripts that the Dockerfile uses to install the tools, libraries, and services\ntools scripts used to install the underlying programs used by the service backends\nconfiguration files that the Dockerfile moves to appropriate locations for the programs they apply to\nstart-blueos-core script that runs when the BlueOS-core container gets started\n\nResponsible for configuring and starting the services\n\n\nlibs code libraries of shared functionality available to the service backends\nservices code for running the services\n\nMostly Python backend code, often wrapped around / making use of a program installed by tools\nSome frontend code, for services that have a frontend that opens in its own window\n\n\nfrontend web code for displaying the BlueOS web interface, including the main interface elements for the services\n\n/public: browser tab icons and the like\n/src:\n\nMostly Vuetify visual components and Typescript interface code\n/assets: styling, images, and models used throughout the web interface\n\n\n\n\n\nServices\nBlueOS provides automatic detection of Available Services,\nwhereby any HTTP server with a title tag is found and listed.\nThis is particularly helpful for testing out API calls, both for development and debugging purposes.\nDocumentation can also be parsed if\n\nit follows the Swagger / OpenAPI specification, and\nis available at /docs or /v1.0/ui\n\nThe services built into BlueOS are as follows:\nService NamePurposeWebpage(s)?Tool(s)?Frontend?\nArduPilot ManagerHandles ArduPilot firmware connection, flashing, and MAVLink routing.- Autopilot Firmware - MAVLink Endpoints- tools/ardupilot_tools- views/Autopilot.vue - views/EndpointView.vue - components/autopilot - store/autopilot.ts - store/autopilot_manager.ts - types/autopilot.ts - types/autopilot/parameter*.ts\nAvailable ServicesFinds and lists available HTTP servers and their API documentation.- Available Services--- views/AvailableServicesView.vue - components/scanner - store/servicesScanner.ts\nBag of HoldingA simple key-value storage API, used for storing and retrieving data as JSON objects through HTTP requests.- Bag Editor--- views/BagEditorView.vue - store/bag.ts\nBeacon ServiceHandles mDNS domain advertisement and local network vehicle identification--- tools/dnsmasq- components/beacon - store/beacon.ts - types/beacon.ts\nBlueOSThe main BlueOS interface- Dashboard- tools/nginx- views/MainView.vue - components/app - components/notifications - store/frontend.ts - store/settings.ts - types/notifications.ts\nBridgetManages serial bridges.- Serial Bridges- tools/bridges- views/BridgesView.vue - components/bridges - store/bridget.ts - types/bridges.ts\nCable-guyManages ethernet IP(s) and DHCP server configuration----- components/ethernet - store/ethernet.ts - types/ethernet.ts\nCommanderProvides access to the operating system, and allows running arbitrary bash commands in the core docker container.------\nFile BrowserProvides a graphical interface to the file system.- File Browser- tools/filebrowser- views/FileBrowserView - types/filebrowser.ts\nhelperLists available webpages- Sidebar--- types/helper.ts\nKrakenManages extensions and the extension store.- Extensions Manager--- views/ExtensionView.vue- views/ExtensionManagerView.vue - components/kraken - types/kraken.ts\nlog_zipperZips old log files to reduce space usage.------\nLog BrowserAllows browsing, downloading, and viewing autopilot log files.- Log Browser- tools/logviewer- views/LogView.vue - components/logs\nMAVLink Camera ManagerManages camera and video stream pipelines, and presents them over MAVLink.- Video Streams- tools/ mavlink_camera_manager- views/VideoManagerView.vue - components/video-manager - store/video.ts - types/video.ts\nMAVLink2RestA REST-based interface to the MAVLink network- MAVLink Inspector - Autopilot Parameters - Vehicle Setup- tools/mavlink2rest- views/MavlinkInspectorView.vue - components/mavlink - components/mavlink-inspector - store/mavlink.ts - types/mavlink.ts - views/ParameterEditorView.vue - components/parameter-editor - types/parameter_repository.d.ts - views/VehicleSetupView.vue - components/vehiclesetup\nNMEA InjectorInjects NMEA GPS position messages into the MAVLink stream.- NMEA Injector--- views/NMEAInjectorView.vue - components/nmea-injector - store/nmea-injector.ts - types/nmea-injector.ts\nPardalHelps to perform network speed and latency tests.- Network Test--- views/NetworkTestView.vue - components/speedtest\nPing ServiceDetects and manages Ping family sonar devices.- Ping Sonar Devices- tools/bridges- views/Pings.vue - components/ping - store/ping.ts - types/ping.ts\nSystem InformationProvides access to and information about the system status and operating system.- System Information- tools/linux2rest- views/SystemInformationView.vue - components/system-information - store/system-information.ts - types/system-information - widgets\nttyd - TerminalProvides a web-based terminal.- Terminal- tools/ttyd - tools/scripts- views/TerminalView.vue\nVersion ChooserManages BlueOS version selection and updates.- BlueOS Version--- views/VersionChooser.vue - components/version-chooser - types/version-chooser.ts\nWifi ManagerManages wifi detection and hotspot configuration.--- tools/hotspot- components/wifi - store/wifi.ts - types/wifi.ts\n\nContributions\nAdding a Flight Controller\nAdding USB detection support for a new type of flight controller board is reasonably straightforward, but does require a few different steps:\nFind the USB device information\n\nConnect your flight controller board via USB1 to a computer running BlueOS\nGo to the BlueOS Terminal page\nOpen a Python console (run the python3 command)\nRun from serial.tools.list_ports import comports\nRun from pprint import pprint\nRun [pprint(port.__dict__) for port in comports()]\nGet the \"product\" and \"manufacturer\" values for your flight controller board\n\n1\nNon-USB serial connections are not yet supported.\n\nFind the flight controller hardware information\n\nGo to the ArduPilot hardware definition files\nFind the folder corresponding to your flight controller board\nFind the APJ_BOARD_ID variable in the hwdef.dat or hwdef.inc file\n\nAdd the board, and confirm it works\n\nFork the BlueOS repository\n\nYou'll need a GitHub account to do this\n\n\nClick where it says master, and create a new branch (e.g. add-pixhawk-6C)\nNavigate to core/services/ardupilot_manager/typedefs.py and add your board's name and type to the Platform class\n\nUse PlatformType.Serial for USB/serial connections - Linux is reserved for sensor/peripheral expansion boards that run the autopilot firmware directly on the Onboard Computer\n\n\nNavigate to core/services/ardupilot_manager/flight_controller_detector/board_identification.py and add appropriate SerialBoardIdentifier instances to the identifiers list (using the \"product\" and \"manufacturer\" values from earlier)\n\nThe \"product\" is more important/useful, because one \"manufacturer\" can make multiple different board types\n\n\nNavigate to core/services/ardupilot_manager/firmware/FirmwareInstall.py and add your board to the get_board_id function (using the APJ_BOARD_ID value from earlier)\nIf you did your code modifications in GitHub skip to the next step - if you're editing the files in a local clone make sure to git commit and git push back up to your GitHub fork of the repository\nGitHub should prompt you that there are recent changes in your new branch - click the prompt to submit a Pull Request to the upstream Blue Robotics repository\n\nThe \"files\" tab of your pull request should look similar to this example\n\n\nWait for the GitHub actions to complete (at the bottom of your pull request), then find the build action corresponding to your branch, and download the BlueOS-core-docker-arm-v7 artifact from it\nGo to the BlueOS Version Chooser, scroll down to the bottom, and \"manual upload\" the artifact you downloaded\nOnce BlueOS has restarted, see whether the flight controller board is being detected as an autopilot in the Autopilot Firmware page\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/core/","path":"/software/onboard/BlueOS-1.1/development/core/","title":"BlueOS-core"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/extensions/":{"body":"\n💡 This page provides context and development guidance for Extensions. For installing and using Extensions please refer to the Extensions Manager section of the Advanced Usage page.\n\nContext\nOne of the primary aims of BlueOS is to be a platform that is readily extendable to the needs of each user. For maximum utility it should be easy to add support for custom hardware, add components to the user interface, and share developments with other BlueOS users, without compromising the base BlueOS experience.\nAccordingly, BlueOS has been designed with a containerised architecture, so the core functionality is kept separate from Extensions, and each can be distributed and updated independently of the other. The built in Extension system allows developers and users to find and install add-on software packages to BlueOS, and manage updates, permissions, and resource limits of those Extensions through the Extensions Manager.\nFor some additional context and discussion, please see this forum thread about the BlueOS Extensions architecture. Feel free to contribute ideas or ask questions there as relevant.\nImplementation\n\n⚠️ The BlueOS Extensions system is currently still in a beta stage of development, so some implementation changes are expected in the near future.\n\nComponents: Anatomy of an Extension\nAt heart, a BlueOS Extension is some functionality (optionally with a web interface) packaged into a Docker Image, and combined with some metadata that allows it to be found, shared, and managed. Extensions may interface with existing services provided by BlueOS (or other Extensions), and some Extensions may create persistent logs and/or make use of data or files provided by the user.\nOnce installed, an Extension Package can be run as a Docker Container, which normally occurs automatically when the vehicle turns on, but can also be manually disabled/enabled via the Extensions Manager. When running, Extensions can have custom permissions assigned, which can limit resource-usage and/or allow access to parts of the host computer's hardware.\nMetadata (Dockerfile)\nThe process of packaging a set of programs and files into a Docker Image requires a Dockerfile, which can be thought of as recipe for building the Image.\nFor an Extension to be properly managed and shareable, the Dockerfile it's created from should include relevant metadata1 via the following labels:\n\nLABEL permissions='{}'\n\nThis can be used to set resource limits, including allowing access to specific components of the underlying hardware\nThis must be a valid JSON (use \\ to break lines), which follows the configuration described in the Docker Api\nFor reference, existing permissions can be retrieved from a running Docker Container by running the command docker inspect <container_name>\n\nDo not copy the whole output to use in your Extension - only the minimal requirements for the Extension to work\n\n\nCommon uses of the permissions label include:\n\nMapping/mounting a folder from the host device into the running Container\"HostConfig\":\\\n {\\\n {\\\n {\\\n \"Binds\":[\"/var/lib/zerotier-one:/var/lib/zerotier-one\"]\\\n }\\\n }\\\n }\n\n\nAutomatically mapping port 80 of the Container to a free port in the hostLABEL permissions='\\\n{\\\n \"ExposedPorts\": {\\\n \"80/tcp\": {}\\\n },\\\n \"HostConfig\": {\\\n \"Binds\":[\"/root/.config:/root/.config\"],\\\n \"PortBindings\": {\\\n \"80/tcp\": [\\\n {\\\n \"HostPort\": \"\"\\\n }\\\n ]\\\n }\\\n }\\\n}'\n\n\nConstraining CPU/memory usage (half a core)\n\nThis is important if your Extension is CPU or memory-hungry, as we need to ensure it doesn't affect the autopilot's operation\n\n{\n \"HostConfig\":{\n \"CpuPeriod\":100000,\n \"CpuQuota\":20000,\n \"Memory\":209715200,\n }\n}\n\n\n\n\nOur Extensions Examples Repository has some useful examples\n\n\nLABEL version=\"1.0.0\"\n\nPublic Extension releases should use a SemVer-compliant version\nWe recommend using alpha/beta versions for non-stable (development) releases (e.g. 1.0.1-beta.16)\n\n\nLABEL authors\n\nThe individual author(s) who have developed the Extension\nUseful for giving credit, and as a potential support backup\nThis should be a list of JSON dicts, each containing a \"name\" and \"email\" key with corresponding values\n\nLABEL authors='[\\\n {\\\n \"name\": \"Me\",\\\n \"email\": \"me@email.com\"\\\n },\\\n {\\\n \"name\": \"Me Too\",\\\n \"email\": \"me2@email.com\"\\\n }\\\n]'\n\n\nLABEL company (becoming maintainer)\n\nThe person or company responsible for maintaining the Extension\nJSON object in the form{\n \"about\": \"brief description\",\n \"name\": \"Company/Person Name\",\n \"email\": \"email@company.com\"\n}\n\n\n\n\nLABEL readme\n\nA URL pointing to a markdown-based README file\n\nAllows using {tag} to find versioned readme files without manually updating the URLs\ne.g. \"https://https://raw.githubusercontent.com/Williangalvani/BlueOS-examples/{tag}/example4-vue-backend/Readme.md\"\n\n\n\n\nLABEL links\n\nAn arbitrary collection of relevant links, in a JSON dict\nRecommended link type examples include{\n \"website\": \"https://...\",\n \"github\": \"https://github.com/...\",\n \"support\": \"mailto:support@company.com\",\n \"documentation\": \"https://docs.company.com/cool-extension/\",\n \"phone\": \"tel:+1234567890\"\n}\n\n\n\n\nLABEL requirements\n\nSemVer-compliant dependency requirements for this Extension to work correctly (with BlueOS and/or other Extensions)\nformat not yet finalised \n\nwill likely be something like repo/extension-name >= version\n\n\n\n\nLABEL type\n\nUseful for broad-strokes filtering when searching for/browsing Extensions\nNot yet implemented in the Extensions Manager\nShould be one of the following strings:\n\n\"device-integration\"\n\"theme\"\n\"other\"\n\"example\" (for Extension examples)\n\n\n\n\nLABEL tags\n\nUseful for finer-grained filtering to help find relevant Extensions\nNot yet implemented in the Extensions Manager\nMust be alpha-numeric (no capital letters, no symbols except dashes)\nLimited to 10 tags per extension\nSome examples (focused around possible Extension functions):\n\n\"positioning\"\n\"navigation\"\n\"mapping\"\n\"data-collection\" (e.g. scientific sensor integrations)\n\"communication\" (e.g. integration of an acoustic modem)\n\"interaction\" (e.g. integration of a gripper / robot arm / brush)\n\n\n\n\n\n1\nThe metadata from the Docker labels is used to populate the Repository Manifest, which is used to include Extensions in the Extensions Manager.\n\nWeb Interface (HTTP Server)\nIf the Extension needs a visual interface2, the recommended approach is to provide a webpage that's accessible via the existing BlueOS web interface.\nTo do so requires the Extension to run a HTTP server3, at which it must serve a register_service endpoint in the format of a JSON dict with the following keys:\n\n\"name\"\n\nThis gets displayed in the sidebar\nA sanitised (lowercase, alphanumeric) form is used to create a named URL for convenient access\n\ne.g. My Software 9000! -> http://blueos.local/extension/mysoftware9000\n\n\n\n\n\"description\"\n\"icon\"\n\nSelect one of the Material Design Icons\nSpecify it in the form mdi-icon-name (e.g. mdi-lightbulb)\n\n\n\"company\"\n\nThe name of the company/person in charge of maintaining the Extension\n\n\n\"version\"\n\nThe SemVer-compliant version of the API that is accessible through the Extension's HTTP server\nNot required to match the version of the Extension itself\n\ne.g. the Extension may release a version with a new appearance, with no changes to the API/functionality\n\n\nMay be used in dependency requirement checks\n\n\n\"webpage\"\n\nThe official URL for the extension\n\n\n\"api\"\n\nThe official URL for the extension's API\n\n\n\"new_page\" (optional)\n\nBoolean (true/false) specifying whether to open the extension in a new page instead of in a BlueOS frame\n\n\n\nAs an example:\n{\n \"name\": \"BlinkLED\",\n \"description\": \"An intuitive application that blinks a LED.\",\n \"icon\": \"mdi-led-on\",\n \"company\": \"Lights End Darkness\",\n \"version\": \"1.0.1\",\n \"new_page\": false,\n \"webpage\": \"https://github.com/octocat/blink-led-BlueOS-extension\",\n \"api\": \"https://github.com/octocat/blink-led-BlueOS-extension/wiki/api\"\n}\n\nEach Extension service with a register_service endpoint will have an entry under the \"Extensions\" section of the BlueOS web interface sidebar menu:\n\n2\nYou can choose to not provide a web interface if your extension operates with no user input. The VirtualHere Extension is a relevant example.\n\n3\nYou can use programs like simple-http-server to serve static files for an Extension.\n\nFunctionality\nDifferent types of Extensions have different functionality, and there are often a variety of tools available to provide that. When starting to develop extensions, we would generally recommend:\n\nPython to run stuff\n\nFrequently using a web framework like Starlite/Flask/FastAPI to provide the backend of an interface\n\n\nStatic HTML files to contain and display parts of an interface\nOur Extensions Examples Repository has some useful examples\n\nExamples: What do they Look like?\nDevice Integrations\n\nWater Linked UGPS\nWater Linked DVL\nCerulean DVL\nNortek Nucleus\n\nExamples\n\nStatic HTML file\nStatic HTML + MAVLink Communication\nVuetify\nVue Backend\nGPIO Control\n\nThemes\n\nNo examples yet\n\nOther\n\nVirtualHere\n\nUSB over IP: used to present USB devices connected to the Onboard Computer as though they are plugged in to the Control Station Computer\n\n\nZeroTier\n\nNetwork extension/sharing: used to create a virtual private network that allows managing and controlling a vehicle remotely over the internet\n\n\n\nWhere do they Live?\nOnline Packages\n\nExtension Packages are expected to be hosted on Docker Hub\nTo appear on the Extensions Manager store they must be registered in the BlueOS Extensions Repository\n\nExtensions are added to the store by opening a Pull Request (PR) against the repository, including a metadata.json file and an icon\n\nThis is a good example\n\n\nOnce the PR is merged, a continuous-integration job will automatically use the information from the provided metadata file to access Docker Hub and fetch the labels for all tags that are SemVer-compliant\nThe fetched information is then compiled and published to the Manifest file in the gh-pages branch\n\n\n\nInstalled Extensions\nOnce installed on the Onboard Computer, Extensions are stored at /var/lib/docker in the file-system, but should be managed through the BlueOS Extensions Manager.\nEcosystem Attributes\nCurrent Extensions Manager Features\n\nInstall Extensions from store\nRuns installed Extensions on startup\nTrack CPU and memory usage (per Extension)\nManage/edit permissions (including limiting hardware resource access/usage)\nView Extension logs\nDisable Extensions\nUninstall Extensions that are no longer wanted\nManually update/rollback Extensions (select version)\nCreate a custom Extension configuration\nAllow restarting Extensions\n\nPlanned Extensions Manager Features\n\nNotify users of available updates\nSupport userdata file cleanup from Extensions (checks for dependencies)\nImprove permissions interface (to show what's available/requested)\nSee more / track progress in the Kraken development tracker\n\nDevelopment Process\n\n💡 Walkthrough coming soon!\n\n\nSneak peek diagram\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/extensions/","path":"/software/onboard/BlueOS-1.1/development/extensions/","title":"Extensions (Beta)"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/overview/":{"body":"Technology Stack\nStructure\n\n\n\nConceptually, BlueOS is structured around 4 main components:\n\nBootstrap\nCore\nExtensions\nCloud\n\nDevelopment Infrastructure\nTo understand how BlueOS is developed, it's valuable to understand what it's made of, and the ideas it has been designed around:\n\nContainerised components and services (Docker)\n\nContainerised, individual services are easier to maintain than a monolithic system\nCan restart and update containers with very low risk of needing to re-flash SD card\nIntegrators can create their own Extensions, instead of forking the whole system\n\nAllows Extension and BlueOS version changes without affecting the underlying system\n\n\nDependencies are isolated, so individual services don’t need to compete for versions\nAccess to system and hardware resources can be limited per Extension\n\n\nWeb interfaces and APIs\n\nCore interface provides consistency, control, and displays active services\nServices display links to API documentation → simplifies development\nExtensions Manager makes it easy to find, install, and manage services from others\n\nIncludes a web store, where Extensions can be downloaded from\n\n\n\n\nFrontend (Vue.js, Typescript)\n\nAllows for very reactive components (see heartbeats icon)\nUsing reusable Vuetify components to make it look good\nRelies heavily on Mavlink2Rest (rust-mavlink) for integrating MAVLink with web technologies\n\n\nModern backend technologies\n\nPython (3.9) for simple services\nRust used for critical services\nMAVLink-Router for MAVLink routing\n\n\n\nDocker\nDocker is a lightweight containerisation system that allows packaging one or more software programs into a single executable that can be easily shared across systems. A static package is referred to as a \"Docker Image\", and when it is being run it takes the form of a \"Docker Container\".\nA Docker Container generally acts like an isolated mini operating system, but it's possible to enter a running Container from the host computer to see (and modify) what the programs inside are doing, and access things like logging output. Importantly, changes in a Container do not affect its Image, so they're not persistent1 and it's possible to \"start fresh\" by simply restarting the Container (which creates a new Container from the Image, without any changes from previous instances).\n1\nWhile changes within/to the Container are not persistent, it is possible to make persistent changes to the host's file-system if the Container has access to it (usually via \"HostConfig\": \"Binds\" in the metadata permissions, or volumes).\n\nBootstrap\nBlueOS-bootstrap is responsible for making sure BlueOS-core is running as expected, as well as gracefully restarting core during BlueOS updates and/or if it is detected to have unexpectedly stopped/crashed.\nCore\nBlueOS-core is the body of BlueOS, and runs all of the built in services, along with the main web interface.\nExtensions\nBlueOS has support for Extensions, which are handled by the Extensions Manager service in core.\nExtensions are individual Docker images that run independently of BlueOS, but can hook into the core systems and host system, providing access to additional devices and data streams, as well as modifying / adding to the web interface.\nCloud Infrastructure\nWhile BlueOS itself runs locally on the vehicle, there are various cloud-based services involved that allow downloading new BlueOS releases, installing new autopilot firmware, finding and installing available extensions, finding information about BlueOS, and getting support.\nOf note are\n\nThe BlueOS-docker repository, where BlueOS-core and BlueOS-bootstrap are developed\nThe Blue Robotics DockerHub, where the BlueOS-core and BlueOS-bootstrap Docker images are deployed/hosted\nThe BlueOS-Extensions-Repository, where BlueOS extensions are registered and findable from\nThe ArduPilot Firmware Server, where autopilot firmwares are fetched from\nThe BlueOS documentation (this site)\nThe Blue Robotics Forum, where ideas and questions can be discussed\n\nDeveloper Presentations\nThe BlueOS development team have done some presentations about what BlueOS is for, and how it can be used / integrated with. Bear in mind that presentation recordings are snapshots of history, and the information in them gets outdated over time as development progress is made.\nBlueOS Development Features\nArduPilot Developers Unconference (March 2023)\n\nIntroduction to BlueOS\nArduPilot Developers Unconference (April 2022)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/overview/","path":"/software/onboard/BlueOS-1.1/development/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/getting-started/":{"body":"Network Configuration\nYour topside computer’s network configuration should be the same as for the previous Companion software.\nTo configure it, you can follow our network setup instructions.\nWeb Interface\nBlueOS is designed as a modular collection of services, which are accessed and configured via a combined web interface.\nThe web interface monitors the autopilot and other main software components. It also listens for and displays connections from other HTTP servers (on TCP ports), which allows extensions and custom integrations to provide an interface through BlueOS while remaining independent from the main BlueOS release/update cycle.\nInterface Access\n\nBy default you can access BlueOS via blueos.local\n\nThis applies if the BlueOS device is connected to via a direct ethernet connection, or USB-OTG\nOn an ethernet connection you can also access BlueOS via its static IP address (192.168.2.2)\n\n\nWhen BlueOS is connected to the same wifi network as your device you can also connect with it using blueos-wifi.local\nBy default if BlueOS does not have a wifi connection configured within 5 minutes of booting, it will start its own wifi hotspot which, when connected to, allows accessing the BlueOS interface via blueos-hotspot.local\n\nThe hotspot SSID is BlueOS (******), with password blueosap\n\n\n\nWizard\nWhen BlueOS is newly installed the interface provides a configuration wizard to help get things set up. \nThe Welcome section allows skipping the wizard if BlueOS and your vehicle have already been configured as desired:\n\n\n\nTo support BlueOS and autopilot firmware updates, it is recommended for BlueOS to be connected to the internet:\n\n\n\nBlueOS supports multiple vehicle types, and allows selecting a quick-setup option for the most common ones:\n\n\n\nVehicle quick-setup involves setting appropriate parameters for the selected vehicle type and frame, as well as choosing a name for your vehicle, and changing the mDNS hostname if you would prefer to connect with something other than http://blueos.local:\n\n\n\nProgress is displayed for any selected configuration changes, and an up to date autopilot firmware is downloaded and installed (if using a standard vehicle type):\n\n\n\nA completion window is shown once all configuration is done:\n\n\n\nInterface Features\nWhen you first open the web interface, you'll see a page that looks like this:\n\n\n\nAs a brief overview,\n\nthe header contains system health indicators and notifications, and some network and display configuration options\nthe sidebar allows navigating between pages, and allows restarting, freeing up space, and reporting issues\nmost pages show their content within the BlueOS interface sections, but some extensions open as full pages in a separate tab\n\nFor more details see the Advanced Usage Interface Overview section.\nUpdating / Releases\nBlueOS supports multiple release types - we recommend the latest stable version for most people. Releases and change-logs are available on the GitHub releases page.\nConnect Wifi\nWhen starting out, it's important to connect to wifi so you can update to the latest suitable release.\n\n\nFirst, click the wifi indicator to scan for available wifi networks\n\n\n\nSelect the desired network, type in the password, and click connect\n\n\n\nOnce connected, the wifi icon will change to show the signal strength, and the connected wifi network will be selected on the menu\n\n\n\nSelect Version\nNow that your BlueOS has an internet connection, you can perform the update to the latest available version.\n\n\nClick on the hamburger menu (if the sidebar is not already open)\n\n\n\nUnder Settings, select BlueOS Version\n\n\n\nIf you're already on the latest version, the right side of your Local Version will be blank. If not, you should see a blue Update button.\n\n\n\nOnce the update button is clicked the update process will run.\nPlease wait until it finishes - it will automatically reload the webpage for you.\n\n\nCamera Streams\nBlueOS is capable of configuring and streaming multiple cameras simultaneously. The first time it boots, it will automatically detect any connected H264-capable cameras and start streaming them. If not, make sure your camera is properly connected, and that BlueOS is on the latest available version. Reset settings and restart BlueOS if necessary.\nAdditional information is available in the Advanced Usage Video Streams section.\nUSB OTG\nIt is possible to connect with a Raspberry Pi 4 through its USB-C port1. Once it's connected, the interface should be available though blueos.local2.\n1\nA Raspberry Pi draws more power than many computer USB ports can provide, so a USB-C connection should generally only be used for data transfer, with a separate power supply (or through a powered USB hub).\n\n2\nThe usb0 network interface is configured to use a DHCP server at 192.168.3.1 by default, which does not provide access via the 192.168.2.2 static IP address.\n\nMac configuration\nIf you are using MacOS, make sure to allow the RNDIS/ethernet gadget:\n\n\n\nMacOS will consider a USB-OTG connection as a valid source of internet, which can be avoided by reordering your network interfaces, making sure that wifi and your actual wired internet connection interface are used with higher priority.\n\n\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/getting-started/","path":"/software/onboard/BlueOS-1.1/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/installation/":{"body":"Download\nBlueOS is a ground-up rewrite software to replace Companion. To use it you'll need to download and flash an SD card.\nIt is compatible with both Raspberry Pi 3 and Raspberry Pi 4.\nThe latest available versions are:\n\n\n\n\nFlash\nWe recommend using a fresh SD card, with at least 4GB capacity.\n\nDownload and install Balena Etcher\nInsert the SD card to your computer (you may need an SD card reader)\nOpen Etcher, select the image you just downloaded, and flash it onto the SD card\n\nRun\n\nEject your SD card with the new BlueOS software\nInsert it into your Raspberry Pi, and power it up!\n\nThe first boot may take a couple of minutes, as it expands the filesystem to the new SD card capacity\n\nIt should take around 2 minutes for a 16GB class 10 SD card\n\n\n\n\nBlueOS is a headless operating system, and uses a web interface rather than HDMI to a monitor\n\nSee the Getting Started section for how to connect\n\n\n\nUpdates\nOnce BlueOS is installed, updating to a different version is simple via the Version Chooser.\nManual Installation\nFor developers with alternative hardware, or who would rather install over a pre-installed base operating system / image, BlueOS provides an install directory with utilities to help perform manual/software-based installations.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/installation/","path":"/software/onboard/BlueOS-1.1/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/overview/":{"body":"A bit of context...\nThe original Companion Software project (started in 2015) was originally created with the simple intent to route an underwater vehicle's video stream and communications to the surface computer, and provide some basic configuration of those features and the vehicle firmware. The simple scope was great to get things started, but also meant that new and complex features weren't designed in from the start, so maintenance and developing functionality became increasingly challenging.\nWith lessons learned on useful features and software architecture requirements, BlueOS was designed and created from the ground up to fit the requirements of the onboard computer system we want to have - with room to grow into a true operating system for the vehicle. BlueOS is modular to the heart, which makes it portable, robust to update, and extensible. \nWe're super excited about our future with BlueOS, and we can't wait for you to join us and try it out! 😄\nBlueOS principles and goals\nAs the core development team we've tried to envision the future of the onboard computer, and the features that will require. Our initial ideas have been distilled into the following core concepts, many of which are already built in to the BlueOS of today:\n\nAn interface that is simple by default but powerful when needed - the user has the power to change anything they desire and customize the full experience\nDesigned to focus on what matters, improving user access to information and controls with a human-friendly UI and UX\nMake complex tasks simpler and improve ease of use by reusing design patterns from other applications (based on the material UI guidelines)\nAdvanced error handling and detection, making any problems clear to the user and developers, along with how to fix them\nSimplify development, providing full access to our services API and modular development model\nEncourage contributions, the project is open source!\nPortable and flexible, you should be able to run on a Raspberry Pi 3/4 or any SBC with Linux operating system, contributions are welcomed\nHighly functional with low CPU usage, the entire system is built to run efficiently\nDeveloped on solid foundations, critical parts or intensive workforce services are designed using the most advanced languages and features available for stability\n\nSome of these principles will only be evident in future releases, but the underlying software architecture and organization have been designed from the ground up to support and enable them.\nWhat's New in BlueOS-1.1?\nThis covers a summary of the major changes and new features in BlueOS-1.1. Where applicable relevant features are also included in the feature comparison table. For detailed coverage of every change, please see the full release notes.\nExtensions (NEW! - beta)\n\nIndependently installed and run software components, that work together with BlueOS\nUsers can download extensions for the integrations and features they want to use\nDevelopers can create extensions, and share them with others\n\nPage improvements\n\nVehicle Setup (NEW!)\n\nA page providing an overview of the configured vehicle and its connected peripherals\nAllows testing motors, configuring servo outputs, and setting default autopilot parameters\n\n\nPing Sonar Devices (NEW!)\n\nA page to detect connected Ping family devices (including Ping360s connected via an ethernet switch)\nAdds MAVLink toggle for Ping Sonar devices\n\nAllows sending distance estimate to Control Station Software (e.g. QGroundControl)\n\n\n\n\nExtensions Manager (NEW!)\n\nAllows installing and managing BlueOS Extensions\n\n\nAutopilot Parameters (NEW!)\n\nAllows reading and editing parameters from a connected MAVLink autopilot\nIncludes saving to and loading from a file\n\n\nAutopilot Firmware (MERGED \"Firmware\" and \"General\")\n\nExtra information about the currently running firmware was added\nImproved firmware update robustness\nSerial autopilots in bootloader mode can now be detected and flashed\n\nAllows recovering from failed Pixhawk updates\n\n\nCan now choose which autopilot to flash, if multiple are connected\n\n\nVideo Streams (REPLACES \"Video\")\n\nCamera manager now supports Raspberry Pi cameras, and a fake source for testing\nCamera previews are now available when a stream is configured\nRTSP output support added for MJPG and YUYV encoded streams\nMAVLink support improved\n\nAllows Control Station Software (e.g. QGroundControl) to configure camera settings and switch between multiple video streams\nDisabling MAVLink advertising of a video stream is now possible\n\n\n\n\nMAVLink Endpoints (REPLACES \"Endpoints\")\n\nIP address interface now indicates the endpoint type\nEndpoints are now editable\n\n\nSerial Bridges (REPLACES \"Bridges\")\n\nSignificant interface and robustness updates\n\n\nNMEA Injector\n\nSettings are now persistent across boots\n\n\nBlueOS Version (REPLACES \"Version Chooser\")\n\nNew progress bar while downloading and extracting new images\nNow allows updating the bootstrap image\n\n\nSystem Information\n\nNew \"Firmware\" tab, with information about the computer's firmware and bootloader\n\n\nNetwork Test\n\nNew tab for internet connection testing\nNew graph to track upload and download performance during a local network test\n\n\nFile Browser\n\nNew shortcuts to useful parts of the file-system\n\n\nBag Editor (NEW!)\n\nAllows modifying the database that controls frontend interface changes\n\n\n\nMenu and general interface improvements\n\nNew vehicle selection and setup wizard\nNew header widgets\nInterface updated to be mobile friendly, and more aesthetic\nVarious sidebar improvements\n\nNow open by default when the window is wide enough\nPages are now ordered alphabetically, without ambiguous sections\nThere's now a configurable vehicle icon, name, mDNS address, and logo\nIt's now possible to download the latest BlueOS system logs, and reset settings\n\n\nPirate mode is now toggled via the happy-robot/pirate icon in the header\nNetwork, ethernet, and wifi configuration are improved\n\nA hotspot network is now created for devices to connect to if a normal connection does not occur on boot\nRaspberry Pi 4s can now connect via USB OTG ethernet\nNetwork interface priority ordering is now possible\nDNS name server configuration is now available\n\n\n\nAccessibility and Styling\n\nAdded basic theme support for changing the interface colours\n\nDevice/Hardware Support\n\nAdded basic detection and management support for:\n\nthe Cube Orange flight controller\nthe Pixhawk 6X flight controller\nnon-Navigator Linux boards\n\n\nNew amd64 Docker images, for running BlueOS on development machines\n\nFeature Comparison\nBlueOS has almost all features from the old Companion, and several hotly-requested new ones too!\nFeatureBlueOS 1.1BlueOS 1.0Companion\nOnboard Computer→+ Other Linux-based SBCs images to come+ Raspberry Pi 3B / 3B+ / 4B supported+ You can install from scratch using the installation script in any Linux computer. (Modifications may be necessary for your hardware configuration)Raspberry Pi 3B required\nFlight Controller→+ Cube Orange+ Pixhawk 6X→+ Navigator+ Pixhawk 4Pixhawk\nVideo Streams→+ MPEG and YUYV encodings+ Supports Raspberry Pi cameras+ Easily manage multiple streams+ UDP and RTSP outputs- Audio streamingnot yet supported (#990)Select a single camera to stream over UDP+ Supports Raspberry Pi cameras (except HQ Camera)+ Supports a single audio stream over UDP\nWIFI Manager→+ Vehicle provides local hotspot→+ Connect to and manage multiple networks, like a cellphone or computer WIFI managerConnect to a single network+ Visible and hidden networks supported\nEthernet Manager→Multiple static IPs and DHCP configurationSingle DHCP (client or server) or static network\nNotification system→Notifications about issues, new releases, and the status of your system.-\nFile Browser→→+ Edit files from the browserDownload and upload files\nLog Browser→Download and manage logs from the browser+ Visualise and analyse logs from the built in viewerSsh/terminal only\nMAVLink inspector→+ MAVLink2REST \"watcher\" option for individual message typesSee and inspect MAVLink messages in real time from the browserSee latest MAVLink messages via MAVLink2REST\nNetwork test→+ Graph during speed tests→+ Check real time latencyCheck upload and download speed from the Control Station Computer to the vehicle's Onboard Computer\nSystem information→Provides all the necessary information about the hardware, operating system, running processes, CPU, memory, disk, network usage and statusBasic usage statistics, list of connected devices\nWeb Terminal→→+ Uses a tmux sessionAccess Linux terminal from the browser\nAutopilot Firmware→→+ General ArduPilot downloads;+ select vehicle to updatestable, beta, and devel releases, custom uploads, and restore default parameters;ArduSub-only downloads\nAutopilot ParametersView, search, and edit vehicle parameters--\nVersion Chooser→+ Easily update/downgrade between BlueOS versions, including locally stored+ Includes stable, beta, and master releases*+ Available even if main site failingUpdate Companion to latest stable only\nMAVLink Endpoints→→Create and manage UDP, TCP, and serial MAVLink endpoints\nNMEA support→→Conveys GPS positions to the vehicle\nPing Sonar Devices→+ Detects Ping360 in ethernet configuration+ Ping Sonar distance estimates can be sent via MAVLink→+ Devices can be hot-plugged- No MAVLink pipelinePing Sonar and Ping360 can connect with Ping Viewer+ Ping Sonar distance estimates can be sent via MAVLink\nSerial Bridges→→Create and manage bridges between serial and UDP/TCP endpoints\nWater LinkedDVL-A50 and UGPS extensions available through Extensions ManagerDVL-A50 package availableSupports UGPS and DVL-A50\nExtensionsCustom extensions available through Extensions Manager→Custom functionality requires forking the codebase\n\nRelease Types\nBlueOS has multiple release types, to allow choosing your preferred balance between access to the latest fixes and improvements, and stability of the software. The three release types are:\n\nStable: Officially tested and validated\n\nStable versions with long term support\nRecommended for most users\n\n\nBeta: Quick-passed rolling releases with new features, bug fixes and general improvements\n\nVersions that will be released after an internal test\nA taste of what's to come\n\n\nMaster: Rapidly-passed bleeding edge development releases 🔥\n\nThe very latest features, that may not have been tested yet\nHighly volatile, generally not recommended\nFor those who want to live in the future\n\n\n\nWhen BlueOS is connected to the internet, a notification appears if a newer version of the same release or a stabler type is available. E.g: When using a Stable version, only new Stable versions will trigger a notification. If using a Beta release, newer Beta and Stable releases will trigger a notification. When running Master, any release type newer than the active one will trigger a new update notification. This helps to ensure that any updates will be as or more stable than your current version, unless you intentionally change to a less stable release type.\nIt's worth noting that the Version Chooser in general offers several major robustness and versatility improvements over the previous 'latest update only' approach, which should benefit both users and developers.\nQuick links\n\nDocumentation\nSource code\nReleases, changelogs, files\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/overview/","path":"/software/onboard/BlueOS-1.1/overview/","title":"Overview"}},"docInfo":{"https://docs.bluerobotics.com/ardusub-zola/":{"body":0,"path":0,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/":{"body":0,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/":{"body":0,"path":2,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/acoustic-modems/":{"body":37,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electrical-switch/":{"body":57,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electronic-switches/":{"body":59,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/ethernet-switch/":{"body":38,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/grippers-manipulators/":{"body":98,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/":{"body":30,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/":{"body":47,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/":{"body":90,"path":3,"title":5},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/":{"body":329,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/":{"body":78,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/":{"body":284,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/":{"body":0,"path":2,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/":{"body":70,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/":{"body":40,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/":{"body":62,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/":{"body":99,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/":{"body":0,"path":2,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/":{"body":655,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/":{"body":217,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/":{"body":99,"path":3,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/":{"body":222,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/":{"body":143,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/":{"body":119,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/":{"body":105,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/":{"body":312,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/":{"body":65,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/":{"body":146,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/integrations/":{"body":377,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/":{"body":0,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/":{"body":0,"path":2,"title":3},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/":{"body":0,"path":4,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/":{"body":0,"path":5,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/":{"body":6327,"path":7,"title":3},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/":{"body":758,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/":{"body":30080,"path":6,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/":{"body":0,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/":{"body":0,"path":5,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/":{"body":1899,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/":{"body":209,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/":{"body":52,"path":6,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/":{"body":227,"path":6,"titl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It can be used\n\nto prevent unintentional arming of the vehicle\nfor disconnecting power to the control electronics to reduce idle power usage\nfor sending a signal to the electronics (e.g. to activate a programming / communication mode)\n\n\n\n\nSupported Electrical Switches\n\nBlue Robotics Switch\n\nOther Known Switch Types\n\nReed Switch\n\nThe switch component sits on the inside of the enclosure wall / end cap, and a magnet can be put on or removed from the other side to open/close the switch circuit\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electrical-switch/","path":"/hardware/additional/electrical-switch/","title":"Electrical Switch"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electronic-switches/":{"body":"Electronic switches are useful for turning higher voltage (>5V DC) / high power auxiliary equipment on and off via digital outputs on the flight controller board. Most commonly they use relay or MOSFET components.\nUp to four electronic switches can be operated via the \"relay\" joystick button functions when connected to the appropriate signal outputs.\nMost flight controllers cannot provide power to the output rail to trigger the relays, so a 5V power supply will generally need to be connected to the AUX power connector (if it exists), or to the power pin on one of the outputs.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electronic-switches/","path":"/hardware/additional/electronic-switches/","title":"Electronic Switches (Relays and MOSFETs)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/ethernet-switch/":{"body":"An Ethernet Switch (sometimes called a Network Switch) allows connecting multiple Ethernet-based connections to the same network. It allows IP cameras, imaging sonars, and other sensors and actuators to communicate directly over the tether without needing to go via the Onboard Computer.\n\n\n\nSupported Ethernet Switches\n\nBlue Robotics Ethernet Switch\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/ethernet-switch/","path":"/hardware/additional/ethernet-switch/","title":"Ethernet (Network) Switch"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/grippers-manipulators/":{"body":"A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks.\nArdusub has the ability to natively control grippers through assigning joystick buttons and servo outputs for grippers that use Pulse Width Modulation (PWM) for control. Depending on the control circuitry, this may include momentary open/close actions, or precise position control.\nOther grippers often have their own control software and interface for assigning control functions. Grippers which use RS485 for control can use a spare twisted wire pair in the tether for data transmission, whereas grippers with RS232 control require custom software on the Companion Computer.\nSupported Grippers and Manipulators\n\n\n\nThe following grippers have been used on ArduSub vehicles:\n\nBlue Robotics Newton Subsea Gripper (PWM output from autopilot)\nBlueprint Lab Series Grippers (RS485 through the tether)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/grippers-manipulators/","path":"/hardware/additional/grippers-manipulators/","title":"Grippers and Manipulators"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/":{"body":"Depth-rated indicator lights can provide visual indications of the status of electronics (e.g. when diving), the location of a device, or can be used as a light display (for visual appeal, or to attract marine life for study).\nSupported Indicator Lights\n\nBlue Robotics Subsea LED Indicator\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/","path":"/hardware/additional/indicators/","title":"Indicator Lights"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/":{"body":"Leak sensors are an important addition for saving an electronics enclosure should a leak occur.\nArduSub can be configured to read leak sensors through auxiliary servo pins on a Pixhawk when set to GPIO mode, and the dedicated leak pins on a Navigator. A failsafe action can be configured to either send a warning or automatically surface the vehicle when a leak is detected.\nSupported Sensors\n\n\n\nThe following sensor products are supported:\n\nBlue Robotics SOS Leak Sensor\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/","path":"/hardware/additional/leak-sensors/","title":"Leak Sensors"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/":{"body":"A variety of other sensors types can be useful in a marine environment, for research and/or to measure phenomena that improve the accuracy of other sensors and vehicle control. Sensors that may be of interest include\n\nconductivity\nhydrophones\nO2, salinity\npH\nsediment and water samplers\ntemperature\nultrasonic thickness gauge\n\nTemperature Sensor\nAn auxiliary external temperature sensor may be added for obtaining faster and more accurate readings than those from an integrated pressure sensor. Duplicate sensors are not supported (e.g. two of the same temperature sensor at different locations on the vehicle).\nArduSub has a pre-installed driver for the following sensor type:\n\nMeasurement Specialties TSYS01\n\nSupported Sensor Products\n\n\n\nThe following sensor products may be directly connected to an autopilot:\n\nCelsius Fast-Response, ±0.1°C Temperature Sensor (I2C)\nPCB for Celsius Fast-Response, ±0.1°C Temperature Sensor\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/","path":"/hardware/additional/other-sensors/","title":"Other Sensors (Temperature, Salinity, Thickness, etc)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/":{"body":"A positioning system is a useful addition to an ArduSub vehicle either for displaying numerical location coordinates or the position of the vehicle on a map in QGroundControl. \nBelow is an example of a Water Linked Underwater GPS System being used to locate a shipwreck:\n\n\n\n💡 The autopilot has the capability of utilizing an external positioning system to perform autonomous maneuvers like station keeping, 'click to go here', transects, and pre-planned waypoint missions, however this is IN DEVELOPMENT.\n\nGPS Module\nArduSub maintains the same GPS module drivers as the rest of the ArduPilot family of firmwares, so a compatible GPS module may be directly connected to the GPS port on the autopilot. Positioning information will only be available when the vehicle is on the surface and the module is out of the water. The module will not be able to obtain a fix if it is underwater due to high frequency radio waves being unable to penetrate the water medium.\nAcoustic positioning systems are the only reliable way of providing positioning information underwater.\nSBL Positioning Systems\nA short baseline (SBL) acoustic positioning system uses an acoustic transmitter on the vehicle to transmit timed acoustic pulses. These pulses are received by a series of multiple receivers on the surface in an arranged geometric pattern. The \"time of flight\" is calculated to when each receiver records the acoustic pulse and then a consolidated position for the underwater vehicle can be plotted.\nSBL systems can produce better positioning accuracy in highly reflective environments due to the adjustable receiver locations.\n\n\n\nImage Credit: Water Linked\nSupported SBL Systems\n\nWater Linked Underwater GPS Explorer Kit\n\nUSBL Positioning Systems\nAn ultra-short baseline acoustic positioning system is similar to SBL system where an acoustic pulse is transmitted from a tranciever on the vehicle and then recieved by a receiver on the surface. Instead of simply calculating time of flight, range and bearing are calculated by USBLs.\nUSBLs are more compact than SBL systems where the receiver's transducers are fixed in one tranciever head.\n\n\n\nImage Credit: Cerulean Sonar\nSupported USBL Systems\n\nCerulean Sonar ROV Locator\n\nDVL Positioning Systems\nA doppler velocity log sends multiple acoustic pulses in different directions, and measures the frequency change (doppler shift) from the transmitted pulses to estimate velocity of the vehicle relative to the bottom. Combining the velocity estimate with measurements from the accelerometers, compass, and gyroscopes in the onboard inertial measurement unit (IMU), the vehicle's orientation and relative position can be estimated via dead-reckoning. If the time of flight of the pulses is measured, it is also possible to estimate vehicle altitude above the bottom, similar to an altimeter.\n\n\n\nImage Credit: Water Linked\nDVLs do not require external acoustic hardware or infrastructure, so are better suited to long distance autonomous missions than an SBL or USBL system.\nThe relative positioning estimates from a DVL system mean the estimate is prone to drift over time. Accurate long term positioning requires occasional corrections from an absolute positioning system (like a GPS Module at the surface).\nSupported DVL Systems\n\nWater Linked DVL-A50\nCerulean Sonar DVL-75\nTeledyne Wayfinder\n\nThere is a comparison of some common DVLs in this forum comment.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/","path":"/hardware/additional/positioning-sensors/","title":"Positioning Sensors (GPS / DVL)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/":{"body":"Servos are a useful addition to any underwater vehicle build where a component needs to be actuated or rotated. Normal servos can be installed inside the watertight enclosures to rotate things such as cameras. Depth rated servos can be used outside of enclosures.\nUp to three servos can be operated via joystick button functions when connected to the appropriate signal output.\nMost autopilots cannot provide power to the servos so a 5V power supply will need to be connected to the output signal rail.\nSupported Servos\nArduSub supports either analog or digital PWM controlled servos. The following have been tested:\n\nHitec HS-5055MG Servo (used in the Blue Robotics Camera Tilt System)\nBlue Trail Engineering Waterproof Servo SER-110X\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/","path":"/hardware/additional/servos/","title":"Servos"},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/":{"body":"Sonars are useful pieces of equipment in situations where visibility is low. Sonars can help get ranges to surfaces or acoustically image targets to better understand their shape.\nIf you want to learn more, see this guide to sonar technology and acoustic devices.\nEchosounders and Altimeters\nA useful type of sonar is an echosounder, also known as an altimeter when installed on an underwater vehicle. An altimeter is a single-beam sonar which gets a range measurement from the bottom of the ROV to the seabed. This is useful in low visibility situations where the distance to the bottom is unknown.\nIn addition to getting a distance reading, echosounders can provide the full echo response (echo strength versus time) which can be plotted like the display of a fishfinder sonar. This is useful for locating targets or obstructions beneath the vehicle.\nSupported Echosounders/Altimeters\n\n\n\n\nBlue Robotics Ping Sonar Altimeter and Echosounder (USB connection to Onboard Computer)\n\nScanning Imaging Sonars\nMechanically scanning sonars are useful tools for navigation, and acoustically imaging targets in a top-down 2-dimensional representation. If you are new to scanning sonars, Blue Robotics has written an introductory guide which illustrates the key concepts and can help with image recognition: Understanding and Using Scanning Sonars.\nSupported Scanning Sonars\nOnly the Blue Robotics Ping360 Scanning Sonar is fully integrated with the ArduSub system and has advanced features such as heading rotation and a direct connection to the Onboard Computer.\n\n\n\n\nBlue Robotics Ping360 Scanning Imaging Sonar (USB, RS485, or Ethernet)\n\nThe following scanning sonars have been installed on ArduSub vehicles:\n\nTritech Micron Sonar (RS485 connection through tether)\nImagenex 852 Ultra-Miniature Imaging (RS485 connection through tether)\n\nMultibeam Sonars\nMultibeam imaging sonars are similar to mechanically scanning sonars in that they acoustically image targets in a top-down 2-dimensional representation. However, with multiple sonar beams the refresh rate is much higher presenting a real-time image of what is in front of the vehicle.\nThe following multibeam sonars have been installed on ArduSub vehicles:\n\nCerulean Omniscan 450 ForwardScan and SideScan (Ethernet + BlueOS Extension)\nBlueprint Subsea Oculus Series Multibeam Sonars (Ethernet)\nTritech International Gemini 720im Multibeam Sonar (Ethernet or RS485 connection through tether)\nTritech International Gemini 720ik Multibeam Sonar (Ethernet)\n\nProfiling Sonars\nProfiling sonars are 1-dimensional echosounders with a rotating head that are able to get accurate acoustic range data to create a \"profile\" of the surrounding environment. These types of sonars are useful for inspecting material buildup in pipes.\nThe following profiling sonars have been installed on ArduSub vehicles:\n\nImagenex 831L Pipe Profiling Sonar\nImagenex 881A Profiling Sonar\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/","path":"/hardware/additional/sonars/","title":"Sonars"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/","path":"/hardware/recommended/","title":"Recommended Extra Hardware"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/":{"body":"ArduSub supports control and attitude atabilization for up to 3-axis gimbals. The most common gimbal type for underwater vehicles is a 1-axis tilt mount, since the majority of standard ROV frames have control over the other Degrees of Freedom (DoF).\nArduSub supports both simple servo-driven (PWM) gimbals in which the autopilot's onboard IMU controls the stabilisation and brushless direct drive (UART) gimbals that have their own self-stabilization controllers.\nSupported Camera Gimbals\n\n\n\nThe following gimbals are supported in ArduSub:\n\nServo Gimbals\nGremsy Pixy U \nSimpleBGC (aka AlexMos) Gimbal Controller\nSToRM32 Gimbal Controller (communicates with MAVLink)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/","path":"/hardware/recommended/camera-gimbal/","title":"Camera Tilt Mount / Gimbal"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/":{"body":"Lights are an integral component of any marine vehicle where optical inspection is being conducted. ArduSub has the ability to control lights that use Pulse Width Modulation (PWM) signals. Two independent light sets may be controlled by two different output channels.\nSupported Light Products\n\n\n\nThe following light products may be controlled by an autopilot:\n\nLumen Subsea Light for ROV/AUV\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/","path":"/hardware/recommended/lights/","title":"Lights"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/":{"body":"An external pressure sensor is required for obtaining depth readings and enabling Depth Hold functionality. Only one sensor may be connected at a time.\nArduSub has pre-installed drivers for the following sensor types:\n\nMeasurement Specialties MS5837-30BA\nKeller 7LD Series\n\nSupported Sensor Products\n \nThe following sensor products may be directly connected to an autopilot:\n\nBar30 High-Resolution 300m Depth/Pressure Sensor\nPCB for Bar30 High-Resolution 300m Depth/Pressure Sensor\nBar100 High-Resolution 1000m Depth/Pressure Sensor\n\nThere is a comparison in the Blue Robotics Technical Reference.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/","path":"/hardware/recommended/pressure-sensor/","title":"Pressure Sensor"},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/":{"body":"Although optional and not necessary for basic functionality, tether interfaces increase the range and reliability of Ethernet communications.\nInterfaces for Copper Twisted Wire Pairs\nInterface boards which use the Homeplug AV standard provide a robust high-speed, long-distance Ethernet connection over a single pair of wires. These boards enable HD video and high-bandwidth data over 300m+ tether lengths.\n\n\n\nThe following interface boards are supported:\n\nBlue Robotics Fathom-X Tether Interface Board Set\n\nInterfaces for Fiber Optic Cable\nWith communications being Ethernet based, fiber optic cables may also be used with Ethernet-to-Fiber converters installed inside the ROV and topside.\nThe following fiber optic interface boards have been known to work: \n\nSeaView SVS-700BR Fiber Kit\nDeltaROV Subsea Fiber to Ethernet Communication Kit\nDeepWaterEngineering Fiber to Ethernet Converter\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/","path":"/hardware/recommended/tether-interface/","title":"Tether Interface"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/","path":"/hardware/required/","title":"Required Hardware"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/":{"body":"A valuable aspect of subsea robotics is being able to see underwater and at high pressures for extended periods, which aids navigation, inspections, exploration, and cleaning and repair work. Cameras can be located inside an electronics enclosure, or can be depth-rated and operate on the outside of the vehicle.\nBlueOS (on the Onboard Computer) includes a camera manager which can configure and stream multiple camera feeds to the Control Station Computer, from both USB and ethernet (IP) cameras. QGroundControl can switch between different video streams, but is currently only capable of displaying (and recording) one stream at a time, and only supports H.264-encoded streams. Additional video streams can be viewed in external applications/software, including VideoLan (VLC) and Open Broadcast Studio (OBS).\nSupported Cameras\nUSB Cameras\nMost modern USB cameras are compatible with the BlueOS.\n \nThe following USB cameras have been tested to work:\n\nBlue Robotics Low-Light HD USB Camera\nDeepWater Exploration exploreHD (depth rated)\n\nCamera Serial Interface (CSI) Cameras\nWith a Camera Serial Interface (CSI) input on the Raspberry Pi, this type of camera may be used with the Companion software. A Raspberry Pi camera module came pre-installed on the BlueROV2 until mid-2017 when it was replaced by the Low-Light HD USB Camera.\n\n\n\nThe following CSI cameras have been tested to work:\n\nRaspberry Pi Camera Module v2\n\nEthernet (IP) Cameras\nAn Ethernet Switch is required unless the camera stream is sent through an independent part of the Tether. The minimum requirements for working directly with QGroundControl are:\n\nH.264 Output\nRTSP\n\n\nUnderstanding Camera Properties\nChoosing a camera setup for underwater use can be challenging, because a tradeoff must be made between the various properties of the camera, its lens, and the bandwidth required for streaming. If you are mostly interested in camera alternatives and improvements, there's a brief comparison table here of some options that have been posted about on the Blue Robotics forum.\nThe following points discuss the tradeoffs between different camera properties, with a focus on the underwater environment: \nHigher Resolution\n\nassuming sufficient lighting and good enough optics, more pixels means clearer fine details, but \nmore pixels means more data to send, so requires more communication bandwidth and storage space, and reduces options for multiple additional cameras/sensors to be run at the same time\nalso generally means the physical sensor for each pixel is smaller, which reduces low-light performance\nsome high resolution cameras support moving the output frame when streaming at lower resolutions, which can allow for optical zooming, panning, and tilting without needing to move the camera itself - that's most effective with a wide-angle lens\n\nHigher Framerate\n\nthe \"time\" equivalent of higher resolution - instead of finer details within an image, higher framerate captures more moments in time, so is better suited for capturing short events, or following fast objects -> results are generally perceived as \"smoother\"\nless time between frames also reduces the maximum exposure time, which can reduce the amount of light that can be captured (so can reduce low-light performance)\nmore frames means more data, so uses additional communication bandwidth and storage space\n\nImproved Low-Light Performance\n\nprimarily comes from a larger physical sensor, which can capture more photons\nbetter low-light performance means your lights don't need to be as strong, which reduces backscatter and bright reflections off bubbles and particles in the water\nthis forum comment shows the kind of difference it can make\n\nWider Angle Lens\n\na wider viewing angle means you can see more of what's around you without needing to turn the camera or vehicle\na wider view into the same set of pixels means each pixel covers more area, so there's less fine detail that can be resolved\nhuman eyes have their own viewing angle they're used to seeing, so very wide angle camera views can be a bit disorienting\na wider viewing angle means a larger portion of the viewing sphere is mapped onto the flat image plane, so the resulting image often looks quite distorted\n\nMore Efficient Encoding (H265)\n\nH264 has been the standard high-efficiency stream encoding for many years, because it can be calculated quickly, has low bandwidth requirements, and produces videos that look similar to the captured input - it's currently the only option that's available by default in our vehicles\nH265 is the next generation beyond H264 - it requires some extra computation to encode (which can potentially add some latency), but it's a more efficient encoding -> either less data can be sent to achieve the same quality (so potentially more cameras could be streamed), or the same amount of data could be sent but with a significant quality improvement\nencoding is important for streaming, but efficient encodings work by removing data that humans aren't very good at seeing -> that's great if only humans are looking at the output, but makes it harder/less effective to do video processing and computer vision on the results\n\nImage Pre-processing\n\nencoding removes large amounts of data that may be helpful for processing, so if processing is going to occur it generally has better results if it can be done in real time on the raw image frames from the camera sensor, before they get encoded\npre-processing on the camera makes the camera more complex and expensive, and the real-time requirement can place some limitations on what kinds of processing are feasible, and how much processing can be applied\nif the stream uses the processed results, the time taken to process any single frame is added to the stream latency, and too much display latency makes the vehicle feel unresponsive and harder to control\nif pre-processing is applied in the camera module to improve visibility/colour (as in the DWE exploreHD), the video receiver can display better results that are easier to analyse and interpret as they appear\nsome cameras support custom processing, which can be used for visibility improvements but also machine-learning detection of regions or objects of interest\ncustom processing has the benefit that you can choose which processing you want to apply, and people can share results and benefit from each other's developments, but also means you need resources to develop processing that works well for your use-case, and/or access to others who have developed it already\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/","path":"/hardware/required/camera/","title":"Camera"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/":{"body":"The Control Station Computer is the operator's primary interface to their vehicle(s). In subsea applications it is often referred to as the Topside Computer or Surface Computer, whereas for rovers and aerial vehicles it is normally called the Ground Control Station (GCS) Computer.\nWhen controlling an ArduSub vehicle, the Topside Computer is tethered to the Onboard Computer. The vehicle is controlled using Control Station software such as the QGroundControl application, which displays the live video feed and telemetry data to the operator, and accepts piloting inputs from a connected joystick for manual control.\nSupported Operating Systems\nQGroundControl has been tested and is supported on the following operating systems:\n\nWindows 10 - 64 bit\nmacOS 10.20 or later\nUbuntu 18.04 or later\n\nThe minimum recommended hardware for running QGroundControl is:\n\ni5 processor or better\n8GB RAM\nSolid-state hard drive (SSD)\n\nConsumer Level Computers\nQGroundControl runs well on consumer level laptops meeting the minimum specifications in the section above. These types of laptops are generally made to be used indoors, so they lack bright screens and water resistance for use outside. If possible, try to find a computer with the brightest screen possible. The engineering department of Blue Robotics uses this Dell XPS 15 laptop as of 2020.\nRugged and Semi-Rugged Computers\nIf a brighter screen or water resitance are required, then a rugged or semi-rugged laptop may be a better choice. Modern rugged laptops are about equal with their consumer level counterparts from a performance perspective.\n\nPanasonic Toughbook Series\nDell Rugged Series\nGetac Laptops and Tablets\n\nCustom Computers\nWith the introduction of the ArduSub system and compatibility with major operating systems, users are building their own topside computer systems, usually into ruggedized travel cases. A high brightness screen (>1000 nits) is installed in the lid and the computer components are located into the remainder of the case. \nBelow is an example of such a case from Blue Link:\n\n\n\nUnsupported Operating Systems\nAlthugh QGroundControl can be downloaded onto these operating systems, ArduSub is not currently supported on:\n\nAndroid\niOS\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/","path":"/hardware/required/control-computer/","title":"Control Station (Topside) Computer"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/":{"body":"ArduSub is designed to work with brushless and brushed Electronic Speed Controllers (ESCs) to control motors and thrusters. Different motor types require different ESCs, so the ESCs must match the motor type they are being used to control.\nArduPilot does not support controlling both brushed and brushless motors at the same time.\nThe minimum requirements for an ESC of either type are:\n\nBi-directional control - they operate in forward and reverse (most ESCs for UAVs and hobby drones only operate in one direction)\nControlled by a PWM input where:\n\n1900 us is full forward\n1500 us is stopped\n1100 us is full reverse\n\n\n\nBrushless ESCs\n\n\n\nThe following brushless ESCs are supported for use with ArduSub:\n\nBlue Robotics Basic ESC\nBlue Robotics Basic ESC 500\n\nThere is a comparison of properties in the Blue Robotics Technical Reference.\nBrushed ESCs\nNo brushed ESCs have been reported to be used with ArduSub, but here is the reference documentation from ArduPilot:\n\nBrushed Motor ESCs\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/","path":"/hardware/required/esc/","title":"Electronic Speed Controllers (ESCs)"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/":{"body":"In the ArduSub control system, the flight controller board is the hardware component which the ArduSub autopilot firmware is loaded onto. The autopilot processes the pilot input and sensor data, and controls the motors, lights, servos, and relays on the vehicle.\nAlthough there are many different flight controller boards available, here are the general characteristics:\n\nAbility to load any ArduPilot binary firmware file (Copter, Plane, Rover/Boat, Sub)\nManual control and semi-autonomous/stablilised \"flight\" modes\nAutonomous waypoint-based control (with an appropriate positioning sensor)\nVarious input and output connections for connecting multiple peripherals\nEmbedded IMU(s), magnetic compass(es) and gyroscope(s) to determine vehicle's orientation\nCapable of transmitting telemetry data, and saving vehicle logs\n\nRecommended Flight Controllers\nThe first flight controller board recommended for ArduSub was the Pixhawk 1 manufactured by 3D Robotics (3DR) from 2013-2016. When 3DR exited manufacturing hardware in 2016, different manufacturers took the open source design files and created their own flight controllers. The original Pixhawk design has been retired, and Blue Robotics has designed the Navigator as a modern replacement that is tailored to ArduSub use cases.\n \nThe following list is the recommended flight controller boards for use with ArduSub:\n\nBlue Robotics Navigator (requires Raspberry Pi 4B Onboard Computer)\nThe original 3DR (3D Robotics) Pixhawk 1\nmRobotics (Mayan Robotics) Pixhawk 1\nHolyBro Pixhawk 4\nCube Module\n\nThere is a comparison in the Blue Robotics Technical Reference.\nNot Recommended Flight Controllers\nWith feedback from other users, the following flight controller boards are not recommended for use with Ardusub:\n\nRadioLink Pixhawk \n\nIssues: Proprietary firmware binaries, only works with RadioLink version of Mission Planner, incorrect connectors.\n\n\nAny flight controller with Picoblade series connectors instead of JST-GH or DF13 connectors.\n\nIssue: Is not connector compatible with Blue Robotics products.\n\n\n\nOther Flight Controllers That Haven't Been Tested\nArduPilot has has a list of other compatible flight controllers: Autopilot Hardware Options\nThese boards have not been tested or reported to work with ArduSub. \n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/","path":"/hardware/required/flight-controller/","title":"Flight Controller Board"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/":{"body":"A joystick (also known as a hand controller, gamepad, etc) when connected to the topside computer is how the user provides control inputs to the vehicle. These inputs may be in the form of movement (stick control) or action items (button presses).\nQGroundControl has support for Microsoft's XInput Game Controller API meaning any controller which supports XInput may be used.\nQGroundControl supports controllers with up to 4 control axes and 16 buttons.\nSupported Commercial Joysticks\nThe following joysticks have been tested and are supported:\n\nLogitech F310 (wired)\nLogitech F710 (wireless)\nMicrosoft Xbox One controllers (wired and wireless)\nSony PlayStation 4 controllers (wired only)\n\nCustom Joysticks\nWith the inclusion of industry standard drivers and APIs, custom controllers can be built using a joystick control board and standard buttons and sticks. \nMarine Simulation wrote a quick tutorial on how to do so: Custom Hand Controller Design\nThe following control boards have been known to work:\n\nLeo Bodnar Electronics\n\nBU0836X 12-Bit Joystick Board\nBU0836A 12-Bit Joystick Controller\nBU0836A-NC 12-Bit Joystick Controller No Connectors\n\n\nUltimarc\n\nMini-PAC Standard\n\n\n\nCustom Joystick Examples\nBelow are some examples of custom joysticks created by ArduSub users.\n\nROVsim Surface Control Unit mk4\n\n\n\n\n\nDeltaROV ROV USB Joystick v1.0\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/","path":"/hardware/required/joystick/","title":"Joystick / Gamepad"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/":{"body":"Onboard Computers are usually small single board computers (SBCs) which can be connected to an Autopilot Board, and can facilitate MAVLink communications with the Control Station as well as enable interfacing and processing of sensors the autopilot is poorly suited to handle.\nWhen paired with an independent Autopilot Board (e.g. Pixhawk) the Onboard Computer is sometimes called a Companion Computer. Other boards like the Navigator use the Onboard Computer as a host, and cannot run without one.\nAn ArduSub-based vehicle is expected to include an Onboard Computer running BlueOS or the older ArduSub Companion Computer Software (often refered to as the \"Companion Software\").\nSupported Hardware\n \nBlueOS can run on Raspberry Pi boards from the 3 Model B and onwards. It is designed to be portable, and support for additional Linux-based SBCs will come in future. Contributions are welcomed.\nThe Companion Software is only supported for use with the Raspberry Pi 3 Model B.\nThere is a comparison of Onboard Computer specifications in the Blue Robotics Technical Reference.\nReferences\nThe ArduPilot documentation has more reading material about Companion Computers, but those software images are not compatible with the ArduSub system.\n\nArduPilot: Companion Computers\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/","path":"/hardware/required/onboard-computer/","title":"Onboard (Companion) Computer"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/":{"body":"A power sensing module provides analog current and voltage sensing to an autopilot onboard the vehicle. ArduSub supports various modules in the firmware and when properly set, QGroundControl will give visual indications of battery level and current consumption.\nRecommended Power Sensing Modules\n\n\n\nThe following power sensing modules have been tested and recommended for use:\n\nBlue Robotics Power Sense Module\n\nDoes not provide power to the autopilot, voltage and current sensing only.\n\n\nMauch HS Series Power Module\n\nRequires an additional 4-14S Hybrid BEC to power the board.\n\n\n\nNot Recommended Power Sensing Modules\nThe following modules have been tested and are not recommended for use:\n\nmRobotics Classic Power Module (BEC) 4S LIPOs\n\nIssue: For unknown reasons, will short circuit and send 12V to the autopilot, damaging both the power module and autopilot.\n\n\n\nOther Power Sensing Modules\nArduPilot has a list of other power sensing modules, but these have not been tested or verified:\n\nBattery Monitors (aka Power Monitors/Modules)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/","path":"/hardware/required/power-sensor/","title":"Power Sensor / Battery Monitor"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/":{"body":"A stable power supply and power distribution system is an integral part of any underwater vehicle. The power supply needs to be able to power all the onboard electronics and keep up with the current draw of the thrusters.\nThe working voltage is usually tied to the maximum voltage rating of the thrusters. Voltage regulators step down higher voltages into lower ones to power the electronics.\nBattery Power\nFor safety reasons, it is recommended to design an underwater vehicle to operate on battery power. Lithium type batteries are a popular choice due to their high storage capacity in a compact form factor. When selecting a battery for a new vehicle, here are a few important considerations:\n\n\nVoltage: Lithium batteries often specify their nominal pack voltage as well as a corresponding \"S\" rating indicating the number of 3.7V cells in wired in Series inside the battery. The voltage of your battery needs to be matched to the ratings of your ESCs and thrusters.\n\nFor example, Blue Robotics Basic ESCs support 2S through 6S (7-26V) batteries, however the T200 Thruster is only rated for a maximum of 20V. Therefore, the the maximum recommended battery to use in this system is a 4S battery as a fully charged battery is 16.8V.\n\n\n\nCapacity Batteries usually specify their capacity in units of mAh, the larger this number, the more energy the battery will store, and the longer you can run your ROV.\n\n\nCurrent Rating: Batteries usually specify a C rating for Current. In order to calculate the rated current in Amps, multiply the capacity of the battery in Ah (mAh/1000) times the C rating. For example, a 10000 mAh (10 Ah) battery with a 10C rating is rated for 100 Amps. As a general rule of thumb, your battery should be rated for a continuous current draw of 15 Amps times the number of thrusters.\n\n\nA battery will also need its own watertight enclosure (WTE) unless space is allocated inside the main electronics enclosure.\n\n\n\nThese batteries are known to fit inside a 3\" inner diameter (WTE):\n\nBlue Robotics Lithium-ion Battery (14.8V, 18Ah)\nBlue Robotics Lithium-ion Battery (14.8V, 15.6Ah)\nBlue Robotics Lithium-Polymer Battery (14.8V, 10Ah)\n\nThere is a comparison of the main properties in the Blue Robotics Technical Reference.\nPower Over Tether (High Voltage)\nWith the inherent danger of high voltage around water, the ArduSub developers highly discourage users from making their own high voltage power supplies.\nIf a power over tether solution is required, then Blue Robotics sells the Outland Technology Power Supply (OTPS) for the BlueROV2. Although the OTPS system was resigned to replace the battery enclosure on the BlueROV2, it can be adapted for other vehicle projects.\n\n\n\nVoltage Regulators\nDepending on the electronics used, the primary voltage of the vehicle will most likely need to be stepped down and regulated more more sensitive electronics such as Companion Computers and autopilots. \nThe following regulators have been tested to provide adequate power:\n\nBlue Robotics 5V 6A Power Supply\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/","path":"/hardware/required/power-supply/","title":"Power Supply / Battery"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/":{"body":"A tether is a length of cable which connects the Onboard Computer to the Topside Computer. Radio frequency (RF) waves do not travel far through water and acoustic modems have limited bandwidth, so a tether is a critical component to connect the vehicle to a surface computer.\nRequirements\nThe Onboard Computer communicates with 10/100/1000 Base Ethernet. If 10/100 Base is acceptable, a standard Cat 5 cable may be used to connect to the vehicle and topside computer. The maximum transmission length of Cat5 cable is around 100m.\n\n\n\nAlternative tether types (twisted pair, fiber optic, etc) and lengths require a Tether Interface.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/","path":"/hardware/required/tether/","title":"Tether"},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/":{"body":"Thrusters are necessary to maneuver an underwater vehicle around. The number and orientation of thrusters on a vehicle determines the number of degrees of freedom (DoF) it may maneuver in.\nThe maximum current draw of the power supply on the vehicle is an important consideration when choosing what type and how many thrusters to mount on a vehicle. The maximum current draw at the intended voltage should be totaled up for all the thrusters. If this exceeds the current rating of the power supply, either lower the supply voltage, limit the maximum thrust, or remove thrusters.\nArduSub can be used with both brushless and brushed thrusters, but all motion-control thrusters on a single vehicle must use the same type of control signal, and each thruster needs to be paired to an Electronic Speed Controller (ESC) that matches its motor type.\nBrushless Thrusters\nBrushless thrusters are a good choice for propulsion as they do not have brushes that must be protected or wear out. \nRecommended Brushless Thrusters\n\n\n\nThe following brushless thrusters have been tested and are recommended for use:\n\nBlue Robotics T200 Thruster\nBlue Robotics T500 Thruster\n\nThere is a comparison of properties in the Blue Robotics Technical Reference.\nBrushed Thrusters\nBrushed thrusters are generally cheaper than brushless types, but must be internally sealed with either an oil compensating system or have shaft seals.\nPartially disasembled bilge pump motors with propellers have been used in the past for a shallow water sealed thruster unit.\nBrushed thrusters must use an appropriate brushed ESC.\n","id":"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/","path":"/hardware/required/thrusters/","title":"Thrusters"},"https://docs.bluerobotics.com/ardusub-zola/integrations/":{"body":" \n \n \n \n \n\n\nflowchart TD\n start(Something<br>to integrate)\n start --> Q1{purpose?}\n Q1 -- change the world --> Actuator\n Actuator --> QA1{control signal?}\n QA1 -- \"binary<br>(ON/OFF)\" --> ADO(Autopilot<br>digital outputs):::Autopilot\n QA1 -- \"CAN bus\" ---> QCAN{\"controlled<br>by autopilot?\"}\n QCAN -- \"yes\" --> ACP(\"Autopilot<br>CAN port<br>(+ArduPilot<br>library)\"):::Autopilot\n QCAN -- \"no\" --> STP1[Spare<br>tether<br>pair] --> CSC1(\"Control Station<br>Computer\"):::Computer\n QA1 -- \"PWM (servo /<br>duty-cycle)\" --> APO(Autopilot<br>PWM outputs):::Autopilot\n QA1 -- \"USB<br>serial\" ---> OCUSB1[\"Onboard Computer<br>USB port\"] --> BEUIP(\"BlueOS Extension<br>(USB over IP)\"):::BlueOS\n QA1 -- \"UART serial /<br>MAVLink\" --> ASP(\"Autopilot serial<br>UART port<br>(+ArduPilot library)\"):::Autopilot\n Q1 -- measure the world --> Sensor\n Sensor --> QS1{signal type?}\n QS1 -- \"UART<br>serial\" --> ASP\n QS1 -- \"USB\" --> OCUSB2[\"Onboard Computer<br>USB port\"]\n QS1 -- \"RSxxx<br>serial\" --> QUSB{RS485 and<br>unrelated to<br>vehicle?}\n QUSB -- \"no\" --> USC1[USB-serial<br>converter] --> OCUSB2 --> QOC1{used/<br>processed<br>by vehicle?}\n QOC1 -- \"no\" --> QOC2{Control<br>Station Computer<br>accepts UDP?}\n QOC2 -- \"no\" --> BEUIP\n QOC2 -- \"yes\" --> BB(BlueOS Bridges):::BlueOS\n QOC1 -- \"yes\" --> QOC3{UVC Camera?}\n QOC3 -- \"yes\" -----> BCM(BlueOS<br>Camera Manager):::BlueOS\n QOC3 -- \"no\" ----> BEC2(Custom BlueOS<br>Extension):::BlueOS\n QUSB -- \"yes\" --> STP2[Spare tether pair] --> URC[USB-RS485<br>converter] --> CSC2(Control Station<br>Computer):::Computer\n QS1 -- \"I2C\" --> AI2C(\"Autopilot<br>I2C port<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS1 -- \"binary<br>(ON/OFF)\" --> ASD(\"Autopilot<br>digital input<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS1 -- \"analog<br>electrical\" --> QS2{measurable<br>quantity?}\n QS2 -- \"resistance /<br>current\" --> QS3{relevant to<br>autopilot?}\n QS3 -- \"no\" --> STP3[Spare tether pair] --> QS4{needs<br>automatic<br>logging?}\n QS4 -- \"no\" --> MM(Multimeter):::Other\n QS4 -- \"yes\" --> C2[\"Resistor(s)\"] --> ADC2[ADC device] --> CSC2\n QS3 -- \"yes\" --> C1[\"Resistor(s)\"] --> AADC(\"Autopilot ADC<br>(+ ArduPilot<br>library)\"):::Autopilot\n QS2 -- \"voltage\" --> AADC\n QS1 -- \"Ethernet\" --> ES[Ethernet Switch] --> QE1{IP Camera?}\n QE1 -- \"no\" --> QE2{relevant<br>to vehicle<br>control?}\n QE2 -- \"no\" --> QE3{tether<br>type?}\n QE3 -- \"other\" --> TI[Tether Interface] --> Tether\n QE3 -- \"ethernet<br>cable\" --> Tether --> CSC2\n QE2 -- \"yes\" --> BEC2\n QE1 -- \"yes\" --> BCM\n QS1 -- \"MIPI<br>CSI-2\" --> QRPi{Raspberry Pi<br>Compatible?}\n QRPi -- \"yes\" --> BCM\n QRPi -- \"no\" --> Co{{Converter}}\n QS1 -- \"Other<br>(HDMI,<br>etc)\" --> Co -. supported<br>signal<br>type .-> QS1\n\n subgraph SK [style key]\n direction TB\n Hyperlink:::Link -- \"Common<br>path\" --> Q{question}\n subgraph Endpoints\n direction LR\n EZ(minimal<br>configuration<br>required):::Easy ~~~\n MED(isolated<br>high-level<br>development<br>required):::Medium ~~~\n HARD(integrated<br>low-level<br>development<br>required):::Hard\n end\n end\n\n %% ---------------- ARROW STYLING ----------------- %%\n %% style individual arrows, nth, counted in definition order\n %% label components (e.g. color) cannot override edgeLabel overrides\n linkStyle 15,42,57 stroke:lightseagreen,color:lightseagreen;\n linkStyle 55,56 stroke:plum,color:plum;\n\n %% ----------------- NODE STYLING ------------------ %%\n %% integration difficulties\n classDef Easy stroke:green,stroke-width:6px;\n classDef Medium stroke:orange,stroke-width:6px;\n classDef Hard stroke:red,stroke-width:6px;\n\n class ADO,APO,BB,BEUSB,BCM,BEUIP Easy;\n class BEC1,BEC2,BOS Medium;\n class ACP,ASP,AI2C,ASD,AADC Hard;\n\n %% primary integration endpoint\n classDef BlueOS fill:#339,color:#eee;\n classDef Autopilot fill:#933,color:#eee;\n classDef Computer fill:#363,color:#eee;\n classDef Other fill:#939,color:#eee;\n\n %% hyperlinks\n click ADO \"/hardware/additional/electronic-switches/\"\n click ACP \"https://ardupilot.org/dev/docs/can-bus.html\"\n click BB \"/software/onboard/BlueOS-1.0/advanced-usage/#bridges\"\n click CSC1 \"/hardware/required/control-computer/\"\n click CSC2 \"/hardware/required/control-computer/\"\n click BCM \"/software/onboard/BlueOS-1.0/advanced-usage/#video\"\n click ES \"/hardware/additional/ethernet-switch/\"\n click TI \"/hardware/recommended/tether-interface/\"\n click URC \"https://bluerobotics.com/store/comm-control-power/tether-interface/bluart-r1-rp/\"\n\n classDef Link color:#0af;\n class ADO,ACP,BB,CSC1,CSC2,BCM,ES,TI,URC Link;\n\n\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/integrations/","path":"/integrations/","title":"Integrations"},"https://docs.bluerobotics.com/ardusub-zola/software/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/","path":"/software/","title":"Software"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/","path":"/software/autopilot/","title":"Autopilot (Flight Controller)"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/","path":"/software/autopilot/ArduSub-4.1/","title":"ArduSub"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/","path":"/software/autopilot/ArduSub-4.1/developers/","title":"Developers"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/":{"body":"\nThis is a list of log messages which may be present in DataFlash (.bin) logs produced and stored onboard ArduSub vehicles (see Log Parameters for creation details). It is possible to add a new message by modifying the firmware.\nDataFlash logs can be downloaded and analysed from a computer or through BlueOS.\nACC\nIMU accelerometer data\nFieldNameDescription\nTimeUSTime since system startup\nIaccelerometer sensor instance number\nSampleUStime since system startup this sample was taken\nAccXacceleration along X axis\nAccYacceleration along Y axis\nAccZacceleration along Z axis\n\nADSB\nAutomatic Dependant Serveillance - Broadcast detected vehicle information\nFieldNameDescription\nTimeUSTime since system startup\nICAO_addressTransponder address\nLatVehicle latitude\nLngVehicle longitude\nAltVehicle altitude\nHeadingVehicle heading\nHor_velVehicle horizontal velocity\nVer_velVehicle vertical velocity\nSquarkTransponder squawk code\n\nAHR2\nBackup AHRS data\nFieldNameDescription\nTimeUSTime since system startup\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nAltEstimated altitude\nLatEstimated latitude\nLngEstimated longitude\nQ1Estimated attitude quaternion component 1\nQ2Estimated attitude quaternion component 2\nQ3Estimated attitude quaternion component 3\nQ4Estimated attitude quaternion component 4\n\nAOA\nAngle of attack and Side Slip Angle values\nFieldNameDescription\nTimeUSTime since system startup\nAOAAngle of Attack calculated from airspeed, wind vector,velocity vector\nSSASide Slip Angle calculated from airspeed, wind vector,velocity vector\n\nARM\nArming status changes\nFieldNameDescription\nTimeUSTime since system startup\nArmStatetrue if vehicle is now armed\nArmChecksarming bitmask at time of arming\nForcedtrue if arm/disarm was forced\nMethodmethod used for arming\n\nARSP\nAirspeed sensor data\nFieldNameDescription\nTimeUSTime since system startup\nIAirspeed sensor instance number\nAirspeedCurrent airspeed\nDiffPressPressure difference between static and dynamic port\nTempTemperature used for calculation\nRawPressRaw pressure less offset\nOffsetOffset from parameter\nUTrue if sensor is being used\nHTrue if sensor is healthy\nHfpProbability sensor has failed\nPriTrue if sensor is the primary sensor\n\nASM1\nAirSim simulation data\nFieldNameDescription\nTimeUSTime since system startup\nTUSSimulation's timestamp\nRSimulation's roll\nPSimulation's pitch\nYSimulation's yaw\nGXSimulated gyroscope, X-axis\nGYSimulated gyroscope, Y-axis\nGZSimulated gyroscope, Z-axis\n\nASM2\nMore AirSim simulation data\nFieldNameDescription\nTimeUSTime since system startup\nAXsimulation's acceleration, X-axis\nAYsimulation's acceleration, Y-axis\nAZsimulation's acceleration, Z-axis\nVXsimulation's velocity, X-axis\nVYsimulation's velocity, Y-axis\nVZsimulation's velocity, Z-axis\nPXsimulation's position, X-axis\nPYsimulation's position, Y-axis\nPZsimulation's position, Z-axis\nAltsimulation's gps altitude\nSDsimulation's earth-frame speed-down\n\nATDE\nAutoTune data packet\nFieldNameDescription\nTimeUSTime since system startup\nAnglecurrent angle\nRatecurrent angular rate\n\nATT\nCanonical vehicle attitude\nFieldNameDescription\nTimeUSTime since system startup\nDesRollvehicle desired roll\nRollachieved vehicle roll\nDesPitchvehicle desired pitch\nPitchachieved vehicle pitch\nDesYawvehicle desired yaw\nYawachieved vehicle yaw\nErrRPlowest estimated gyro drift error\nErrYawdifference between measured yaw and DCM yaw estimate\nAEKFactive EKF type\n\nAUXF\nAuixillary function invocation information\nFieldNameDescription\nTimeUSTime since system startup\nfunctionID of triggered function\nposswitch position when function triggered\nsourcesource of auxillary function invocation\nresulttrue if function was successful\n\nBARO\nGathered Barometer data\nFieldNameDescription\nTimeUSTime since system startup\nIbarometer sensor instance number\nAltcalculated altitude\nPressmeasured atmospheric pressure\nTempmeasured atmospheric temperature\nCRtderived climb rate from primary barometer\nSMStime last sample was taken\nOffsetraw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS\nGndTemptemperature on ground, specified by parameter or measured while on ground\nHealthtrue if barometer is considered healthy\n\nBAT\nGathered battery data\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nVoltmeasured voltage\nVoltRestimated resting voltage\nCurrmeasured current\nCurrTotconsumed Ah, current * time\nEnrgTotconsumed Wh, energy this battery has expended\nTempmeasured temperature\nResestimated battery resistance\nRemPctremaining percentage\n\nBCL\nBattery cell voltage information\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nVoltbattery voltage\nV1first cell voltage\nV2second cell voltage\nV3third cell voltage\nV4fourth cell voltage\nV5fifth cell voltage\nV6sixth cell voltage\nV7seventh cell voltage\nV8eighth cell voltage\nV9ninth cell voltage\nV10tenth cell voltage\nV11eleventh cell voltage\nV12twelfth cell voltage\n\nBCL2\nBattery cell voltage information\nFieldNameDescription\nTimeUSTime since system startup\nInstancebattery instance number\nV13thirteenth cell voltage\nV14fourteenth cell voltage\n\nBCN\nBeacon information\nFieldNameDescription\nTimeUSTime since system startup\nHealthTrue if beacon sensor is healthy\nCntNumber of beacons being used\nD0Distance to first beacon\nD1Distance to second beacon\nD2Distance to third beacon\nD3Distance to fourth beacon\nPosXCalculated beacon position, x-axis\nPosYCalculated beacon position, y-axis\nPosZCalculated beacon position, z-axis\n\nCAM\nCamera shutter information\nFieldNameDescription\nTimeUSTime since system startup\nGPSTimemilliseconds since start of GPS week\nGPSWeekweeks since 5 Jan 1980\nLatcurrent latitude\nLngcurrent longitude\nAltcurrent altitude\nRelAltcurrent altitude relative to home\nGPSAltaltitude as reported by GPS\nRollcurrent vehicle roll\nPitchcurrent vehicle pitch\nYawcurrent vehicle yaw\n\nCMD\nExecuted mission command information\nFieldNameDescription\nTimeUSTime since system startup\nCTotTotal number of mission commands\nCNumThis command's offset in mission\nCIdCommand type\nPrm1Parameter 1\nPrm2Parameter 2\nPrm3Parameter 3\nPrm4Parameter 4\nLatCommand latitude\nLngCommand longitude\nAltCommand altitude\nFrameFrame used for position\n\nCOFS\nCurrent compass learn offsets\nFieldNameDescription\nTimeUSTime since system startup\nOfsXbest learnt offset, x-axis\nOfsYbest learnt offset, y-axis\nOfsZbest learnt offset, z-axis\nVarerror of best offset vector\nYawbest learnt yaw\nWVarerror of best learn yaw\nNnumber of samples used\n\nCSRV\nServo feedback data\nFieldNameDescription\nTimeUSTime since system startup\nIdServo number this data relates to\nPosCurrent servo position\nForceForce being applied\nSpeedCurrent servo movement speed\nPowAmount of rated power being applied\n\nCTRL\nAttitude Control oscillation monitor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nRMSRollPLPF Root-Mean-Squared Roll Rate controller P gain\nRMSRollDLPF Root-Mean-Squared Roll rate controller D gain\nRMSPitchPLPF Root-Mean-Squared Pitch Rate controller P gain\nRMSPitchDLPF Root-Mean-Squared Pitch Rate controller D gain\nRMSYawLPF Root-Mean-Squared Yaw Rate controller P+D gain\n\nCTUN\nControl Tuning information\nFieldNameDescription\nTimeUSTime since system startup\nThIthrottle input\nABstangle boost\nThOthrottle output\nThHcalculated hover throttle\nDAltdesired altitude\nAltachieved altitude\nBAltbarometric altitude\nDSAltdesired rangefinder altitude\nSAltachieved rangefinder altitude\nTAltterrain altitude\nDCRtdesired climb rate\nCRtclimb rate\n\nD16\nGeneric 16-bit-signed-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nD32\nGeneric 32-bit-signed-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDFLT\nGeneric float storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDMS\nDataFlash-Over-MAVLink statistics\nFieldNameDescription\nTimeUSTime since system startup\nNCurrent block number\nDpNumber of times we rejected a write to the backend\nRTNumber of blocks sent from the retry queue\nRSNumber of resends of unacknowledged data made\nFaAverage number of blocks on the free list\nFmnMinimum number of blocks on the free list\nFmxMaximum number of blocks on the free list\nPaAverage number of blocks on the pending list\nPmnMinimum number of blocks on the pending list\nPmxMaximum number of blocks on the pending list\nSaAverage number of blocks on the sent list\nSmnMinimum number of blocks on the sent list\nSmxMaximum number of blocks on the sent list\n\nDSF\nOnboard logging statistics\nFieldNameDescription\nTimeUSTime since system startup\nDpNumber of times we rejected a write to the backend\nBlkCurrent block number\nBytesCurrent write offset\nFMnMinimum free space in write buffer in last time period\nFMxMaximum free space in write buffer in last time period\nFAvAverage free space in write buffer in last time period\n\nDSTL\nDeepstall Landing data\nFieldNameDescription\nTimeUSTime since system startup\nStgDeepstall landing stage\nTHdgTarget heading\nLatLanding point latitude\nLngLanding point longitude\nAltLanding point altitude\nXTCrosstrack error\nTravelExpected travel distance vehicle will travel from this point\nL1IL1 controller crosstrack integrator value\nLoiterwind estimate loiter angle flown\nDesDeepstall steering PID desired value\nPDeepstall steering PID Proportional response component\nIDeepstall steering PID Integral response component\nDDeepstall steering PID Derivative response component\n\nDU16\nGeneric 16-bit-unsigned-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nDU32\nGeneric 32-bit-unsigned-integer storage\nFieldNameDescription\nTimeUSTime since system startup\nIdData type identifier\nValueValue\n\nEAH1\nExternal AHRS data\nFieldNameDescription\nTimeUSTime since system startup\nRolleuler roll\nPitcheuler pitch\nYaweuler yaw\nVNvelocity north\nVEvelocity east\nVDvelocity down\nLatlatitude\nLonlongitude\nAltaltitude AMSL\nUXYuncertainty in XY position\nUVuncertainty in velocity\nURuncertainty in roll\nUPuncertainty in pitch\nUYuncertainty in yaw\n\nECYL\nEFI per-cylinder information\nFieldNameDescription\nTimeUSTime since system startup\nInstCylinder this data belongs to\nIgnTIgnition timing\nInjTInjection time\nCHTCylinder head temperature\nEGTExhaust gas temperature\nLambdaEstimated lambda coefficient (dimensionless ratio)\nIDXIndex of the publishing ECU\n\nEFI\nElectronic Fuel Injection system data\nFieldNameDescription\nTimeUSTime since system startup\nLPReported engine load\nRpmReported engine RPM\nSDTSpark Dwell Time\nATMAtmospheric pressure\nIMPIntake manifold pressure\nIMTIntake manifold temperature\nECTEngine Coolant Temperature\nOilPOil Pressure\nOilTOil temperature\nFPFuel Pressure\nFCRFuel Consumption Rate\nCFVConsumed fueld volume\nTPSThrottle Position\nIDXIndex of the publishing ECU\n\nEFI2\nElectronic Fuel Injection system data - redux\nFieldNameDescription\nTimeUSTime since system startup\nHealthyTrue if EFI is healthy\nESEngine state\nGEGeneral error\nCSECrankshaft sensor status\nTSTemperature status\nFPSFuel pressure status\nOPSOil pressure status\nDSDetonation status\nMSMisfire status\nDebSDebris status\nSPUSpark plug usage\nIDXIndex of the publishing ECU\n\nERR\nSpecifically coded error messages\nFieldNameDescription\nTimeUSTime since system startup\nSubsysSubsystem in which the error occurred\nECodeSubsystem-specific error code\n\nESC\nFeedback received from ESCs\nFieldNameDescription\nTimeUSmicroseconds since system startup\nInstanceESC instance number\nRPMreported motor rotation rate\nVoltPerceived input voltage for the ESC\nCurrPerceived current through the ESC\nTempESC temperature in centi-degrees C\nCTotcurrent consumed total mAh\nMotTempmeasured motor temperature in centi-degrees C\nErrerror rate\n\nEV\nSpecifically coded event messages\nFieldNameDescription\nTimeUSTime since system startup\nIdEvent identifier\n\nFMT\nMessage defining the format of messages in this file (Read more...)\nFieldNameDescription\nTypeunique-to-this-log identifier for message being defined\nLengththe number of bytes taken up by this message (including all headers)\nNamename of the message being defined\nFormatcharacter string defining the C-storage-type of the fields in this message\nColumnsthe labels of the message being defined\n\nFMTU\nMessage defining units and multipliers used for fields of other messages\nFieldNameDescription\nTimeUSTime since system startup\nFmtTypenumeric reference to associated FMT message\nUnitIdseach character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format\nMultIdseach character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format\n\nFOLL\nFollow library diagnostic data\nFieldNameDescription\nTimeUSTime since system startup\nLatTarget latitude\nLonTarget longitude\nAltTarget absolute altitude\nVelNTarget earth-frame velocity, North\nVelETarget earth-frame velocity, East\nVelDTarget earth-frame velocity, Down\nLatEVehicle latitude\nLonEVehicle longitude\nAltEVehicle absolute altitude\n\nFTN\nFilter Tuning Messages\nFieldNameDescription\nTimeUSmicroseconds since system startup\nNDnnumber of active dynamic harmonic notches\nDnF1dynamic harmonic notch centre frequency for motor 1\nDnF2dynamic harmonic notch centre frequency for motor 2\nDnF3dynamic harmonic notch centre frequency for motor 3\nDnF4dynamic harmonic notch centre frequency for motor 4\n\nFTN1\nFFT Filter Tuning\nFieldNameDescription\nTimeUSmicroseconds since system startup\nPkAvgpeak noise frequency as an energy-weighted average of roll and pitch peak frequencies\nBwAvgbandwidth of weighted peak freqency where edges are determined by FFT_ATT_REF\nDnFdynamic harmonic notch centre frequency\nSnXsignal-to-noise ratio on the roll axis\nSnYsignal-to-noise ratio on the pitch axis\nSnZsignal-to-noise ratio on the yaw axis\nFtXharmonic fit on roll of the highest noise peak to the second highest noise peak\nFtYharmonic fit on pitch of the highest noise peak to the second highest noise peak\nFtZharmonic fit on yaw of the highest noise peak to the second highest noise peak\nFHFFT health\nTcFFT cycle time\n\nFTN2\nFFT Noise Frequency Peak\nFieldNameDescription\nTimeUSmicroseconds since system startup\nIdpeak id where 0 is the centre peak, 1 is the lower shoulder and 2 is the upper shoulder\nPkXnoise frequency of the peak on roll\nPkYnoise frequency of the peak on pitch\nPkZnoise frequency of the peak on yaw\nDnFdynamic harmonic notch centre frequency\nBwXbandwidth of the peak freqency on roll where edges are determined by FFT_ATT_REF\nBwYbandwidth of the peak freqency on pitch where edges are determined by FFT_ATT_REF\nBwZbandwidth of the peak freqency on yaw where edges are determined by FFT_ATT_REF\nEnXpower spectral density bin energy of the peak on roll\nEnYpower spectral density bin energy of the peak on roll\nEnZpower spectral density bin energy of the peak on roll\n\nGPA\nGPS accuracy information\nFieldNameDescription\nIGPS instance number\nTimeUSTime since system startup\nVDopvertical degree of procession\nHAcchorizontal position accuracy\nVAccvertical position accuracy\nSAccspeed accuracy\nYAccyaw accuracy\nVVtrue if vertical velocity is available\nSMStime since system startup this sample was taken\nDeltasystem time delta between the last two reported positions\n\nGPS\nInformation received from GNSS systems attached to the autopilot\nFieldNameDescription\nTimeUSTime since system startup\nIGPS instance number\nStatusGPS Fix type; 2D fix, 3D fix etc.\nGMSmilliseconds since start of GPS Week\nGWkweeks since 5 Jan 1980\nNSatsnumber of satellites visible\nHDophorizontal precision\nLatlatitude\nLnglongitude\nAltaltitude\nSpdground speed\nGCrsground course\nVZvertical speed\nYawvehicle yaw\nUboolean value indicating whether this GPS is in use\n\nGRAW\nRaw uBlox data\nFieldNameDescription\nTimeUSTime since system startup\nWkMSreceiver TimeOfWeek measurement\nWeekGPS week\nnumSVnumber of space vehicles seen\nsvspace vehicle number of first vehicle\ncpMescarrier phase measurement\nprMespseudorange measurement\ndoMesDoppler measurement\nmesQImeasurement quality index\ncnocarrier-to-noise density ratio\nlliloss of lock indicator\n\nGRXH\nRaw uBlox data - header\nFieldNameDescription\nTimeUSTime since system startup\nrcvTimereceiver TimeOfWeek measurement\nweekGPS week\nleapSGPS leap seconds\nnumMeasnumber of space-vehicle measurements to follow\nrecStatreceiver tracking status bitfield\n\nGRXS\nRaw uBlox data - space-vehicle data\nFieldNameDescription\nTimeUSTime since system startup\nprMesPseudorange measurement\ncpMesCarrier phase measurement\ndoMesDoppler measurement\ngnssGNSS identifier\nsvSatellite identifier\nfreqGLONASS frequency slot\nlockcarrier phase locktime counter\ncnocarrier-to-noise density ratio\nprDestimated pseudorange measurement standard deviation\ncpDestimated carrier phase measurement standard deviation\ndoDestimated Doppler measurement standard deviation\ntrktracking status bitfield\n\nGUID\nGuided mode target information\nFieldNameDescription\nTimeUSTime since system startup\nTypeType of guided mode\npXTarget position, X-Axis\npYTarget position, Y-Axis\npZTarget position, Z-Axis\nvXTarget velocity, X-Axis\nvYTarget velocity, Y-Axis\nvZTarget velocity, Z-Axis\n\nGYR\nIMU gyroscope data\nFieldNameDescription\nTimeUSTime since system startup\nIgyroscope sensor instance number\nSampleUStime since system startup this sample was taken\nGyrXmeasured rotation rate about X axis\nGyrYmeasured rotation rate about Y axis\nGyrZmeasured rotation rate about Z axis\n\nHEAT\nIMU Heater data\nFieldNameDescription\nTimeUSTime since system startup\nTempCurrent IMU temperature\nTargTarget IMU temperature\nPProportional portion of response\nIIntegral portion of response\nOutController output to heating element\n\nICMB\nICM20789 diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nTrawraw temperature from sensor\nPrawraw pressure from sensor\nPpressure\nTtemperature\n\nIMU\nInertial Measurement Unit data\nFieldNameDescription\nTimeUSTime since system startup\nIIMU sensor instance number\nGyrXmeasured rotation rate about X axis\nGyrYmeasured rotation rate about Y axis\nGyrZmeasured rotation rate about Z axis\nAccXacceleration along X axis\nAccYacceleration along Y axis\nAccZacceleration along Z axis\nEGgyroscope error count\nEAaccelerometer error count\nTIMU temperature\nGHgyroscope health\nAHaccelerometer health\nGHzgyroscope measurement rate\nAHzaccelerometer measurement rate\n\nIOMC\nIOMCU diagnostic information\nFieldNameDescription\nTimeUSTime since system startup\nMemFree memory\nTSIOMCU uptime\nNPktNumber of packets received by IOMCU\nNerrProtocol failures on MCU side\nNerr2Reported number of failures on IOMCU side\nNDelNumber of delayed packets received by MCU\n\nJSN1\nLog data received from JSON simulator\nFieldNameDescription\nTimeUSTime since system startup (us)\nTStampSimulation's timestamp (s)\nRSimulation's roll (rad)\nPSimulation's pitch (rad)\nYSimulation's yaw (rad)\nGXSimulated gyroscope, X-axis (rad/sec)\nGYSimulated gyroscope, Y-axis (rad/sec)\nGZSimulated gyroscope, Z-axis (rad/sec)\n\nJSN2\nLog data received from JSON simulator\nFieldNameDescription\nTimeUSTime since system startup (us)\nVNsimulation's velocity, North-axis (m/s)\nVEsimulation's velocity, East-axis (m/s)\nVDsimulation's velocity, Down-axis (m/s)\nAXsimulation's acceleration, X-axis (m/s^2)\nAYsimulation's acceleration, Y-axis (m/s^2)\nAZsimulation's acceleration, Z-axis (m/s^2)\nANsimulation's acceleration, North (m/s^2)\nAEsimulation's acceleration, East (m/s^2)\nADsimulation's acceleration, Down (m/s^2)\n\nLAND\nSlope Landing data\nFieldNameDescription\nTimeUSTime since system startup\nstageprogress through landing sequence\nf1Landing flags\nf2Slope-specific landing flags\nslopeSlope to landing point\nslopeInitInitial slope to landing point\naltORangefinder correction\nfhHeight for flare timing.\n\nLGR\nLanding gear information\nFieldNameDescription\nTimeUSTime since system startup\nLandingGearCurrent landing gear state\nWeightOnWheelsTrue if there is weight on wheels\n\nMAG\nInformation received from compasses\nFieldNameDescription\nTimeUSTime since system startup\nImagnetometer sensor instance number\nMagXmagnetic field strength in body frame\nMagYmagnetic field strength in body frame\nMagZmagnetic field strength in body frame\nOfsXmagnetic field offset in body frame\nOfsYmagnetic field offset in body frame\nOfsZmagnetic field offset in body frame\nMOXmotor interference magnetic field offset in body frame\nMOYmotor interference magnetic field offset in body frame\nMOZmotor interference magnetic field offset in body frame\nHealthtrue if the compass is considered healthy\nStime measurement was taken\n\nMAV\nGCS MAVLink link statistics\nFieldNameDescription\nTimeUSTime since system startup\nchanmavlink channel number\ntxptransmitted packet count\nrxpreceived packet count\nrxdpperceived number of packets we never received\nflagscompact representation of some stage of the channel\nssstream slowdown is the number of ms being added to each message to fit within bandwidth\ntftimes buffer was full when a message was going to be sent\n\nMAVC\nMAVLink command we have just executed\nFieldNameDescription\nTimeUSTime since system startup\nTStarget system for command\nTCtarget component for command\nFrcommand frame\nCmdmavlink command enum value\nCurcurrent flag from mavlink packet\nACautocontinue flag from mavlink packet\nP1first parameter from mavlink packet\nP2second parameter from mavlink packet\nP3third parameter from mavlink packet\nP4fourth parameter from mavlink packet\nXX coordinate from mavlink packet\nYY coordinate from mavlink packet\nZZ coordinate from mavlink packet\nRescommand result being returned from autopilot\nWLtrue if this command arrived via a COMMAND_LONG rather than COMMAND_INT\n\nMMO\nMMC3416 compass data\nFieldNameDescription\nTimeUSTime since system startup\nNxnew measurement X axis\nNynew measurement Y axis\nNznew measurement Z axis\nOxnew offset X axis\nOynew offset Y axis\nOznew offset Z axis\n\nMODE\nvehicle control mode information\nFieldNameDescription\nTimeUSTime since system startup\nModevehicle-specific mode number\nModeNumalias for Mode\nRsnreason for entering this mode; enumeration value\n\nMON\nMain loop stuck data\nFieldNameDescription\nTimeUSTime since system startup\nLDelayTime main loop has been stuck for\nTaskCurrent scheduler task number\nIErrInternal error mask; which internal errors have been detected\nIErrCntInternal error count; how many internal errors have been detected\nIErrLnLine on which internal error ocurred\nMavMsgId of the last mavlink message processed\nMavCmdId of the last mavlink command processed\nSemLineLine number of semaphore most recently taken\nSPICntNumber of SPI transactions processed\nI2CCntNumber of i2c transactions processed\n\nMOTB\nBattery information\nFieldNameDescription\nTimeUSTime since system startup\nLiftMaxMaximum motor compensation gain\nBatVoltRatio betwen detected battery voltage and maximum battery voltage\nBatResEstimated battery resistance\nThLimitThrottle limit set due to battery current limitations\n\nMPPT\nInformation about the Maximum Power Point Tracker sensor\nFieldNameDescription\nTimeUSTime since system startup\nInstDriver Instance\nSNSerial number\nFFaults\nTempTemperature\nInVInput Voltage\nInCInput Current\nInPInput Power\nOutVOutput Voltage\nOutCOutput Current\nOutPOutput Power\n\nMSG\nTextual messages\nFieldNameDescription\nTimeUSTime since system startup\nMessagemessage text\n\nMULT\nMessage mapping from single character to numeric multiplier\nFieldNameDescription\nTimeUSTime since system startup\nIdcharacter referenced by FMTU\nMultnumeric multiplier\n\nNKF0\nEKF2 beacon sensor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nIDBeacon sensor ID\nrngBeacon range\ninnovBeacon range innovation\nSIVsqrt of beacon range innovation variance\nTRBeacon range innovation consistency test ratio\nBPNBeacon north position\nBPEBeacon east position\nBPDBeacon down position\nOFHHigh estimate of vertical position offset of beacons rel to EKF origin\nOFLLow estimate of vertical position offset of beacons rel to EKF origin\nOFNalways zero\nOFEalways zero\nOFDalways zero\n\nNKF1\nEKF2 estimator outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nVNEstimated velocity (North component)\nVEEstimated velocity (East component)\nVDEstimated velocity (Down component)\ndPDFiltered derivative of vertical position (down)\nPNEstimated distance from origin (North component)\nPEEstimated distance from origin (East component)\nPDEstimated distance from origin (Down component)\nGXEstimated gyro bias, X axis\nGYEstimated gyro bias, Y axis\nGZEstimated gyro bias, Z axis\nOHHeight of origin above WGS-84\n\nNKF2\nEKF2 estimator secondary outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nAZbiasEstimated accelerometer Z bias\nGSXGyro Scale Factor (X-axis)\nGSYGyro Scale Factor (Y-axis)\nGSZGyro Scale Factor (Z-axis)\nVWNEstimated wind velocity (North component)\nVWEEstimated wind velocity (East component)\nMNMagnetic field strength (North component)\nMEMagnetic field strength (East component)\nMDMagnetic field strength (Down component)\nMXMagnetic field strength (body X-axis)\nMYMagnetic field strength (body Y-axis)\nMZMagnetic field strength (body Z-axis)\nMIMagnetometer used for data\n\nNKF3\nEKF2 innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nIVNInnovation in velocity (North component)\nIVEInnovation in velocity (East component)\nIVDInnovation in velocity (Down component)\nIPNInnovation in position (North component)\nIPEInnovation in position (East component)\nIPDInnovation in position (Down component)\nIMXInnovation in magnetic field strength (X-axis component)\nIMYInnovation in magnetic field strength (Y-axis component)\nIMZInnovation in magnetic field strength (Z-axis component)\nIYAWInnovation in vehicle yaw\nIVTInnovation in true-airspeed\nRErrAccumulated relative error of this core with respect to active primary core\nErScA consolidated error score where higher numbers are less healthy\n\nNKF4\nEKF2 variances\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nSVSquare root of the velocity variance\nSPSquare root of the position variance\nSHSquare root of the height variance\nSMMagnetic field variance\nSVTtilt error convergence metric\nerrRPFiltered error in roll/pitch estimate\nOFNMost recent position reset (North component)\nOFEMost recent position reset (East component)\nFSFilter fault status\nTSFilter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)\nSSFilter solution status\nGPSFilter GPS status\nPIPrimary core index\n\nNKF5\nEKF2 Sensor innovations (primary core) and general dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nNINormalised flow variance\nFIXOptical flow LOS rate vector innovations from the main nav filter (X-axis)\nFIYOptical flow LOS rate vector innovations from the main nav filter (Y-axis)\nAFIOptical flow LOS rate innovation from terrain offset estimator\nHAGLHeight above ground level\noffsetEstimated vertical position of the terrain relative to the nav filter zero datum\nRIRange finder innovations\nrngMeasured range\nHerrFilter ground offset state error\neAngMagnitude of angular error\neVelMagnitude of velocity error\nePosMagnitude of position error\n\nNKQ\nEKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes\nFieldNameDescription\nTimeUSTime since system startup\nCEKF2 core this data is for\nQ1Quaternion a term\nQ2Quaternion b term\nQ3Quaternion c term\nQ4Quaternion d term\n\nNKT\nEKF2 timing information\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nCntcount of samples used to create this message\nIMUMinsmallest IMU sample interval\nIMUMaxlargest IMU sample interval\nEKFMinlow-passed achieved average time step rate for the EKF (minimum)\nEKFMaxlow-passed achieved average time step rate for the EKF (maximum)\nAngMinaccumulated measurement time interval for the delta angle (minimum)\nAngMaxaccumulated measurement time interval for the delta angle (maximum)\nVMinaccumulated measurement time interval for the delta velocity (minimum)\nVMaxaccumulated measurement time interval for the delta velocity (maximum)\n\nNKY0\nEKF Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nYCGSF yaw estimate (rad)\nYCSGSF yaw estimate 1-Sigma uncertainty (rad)\nY0Yaw estimate from individual EKF filter 0 (rad)\nY1Yaw estimate from individual EKF filter 1 (rad)\nY2Yaw estimate from individual EKF filter 2 (rad)\nY3Yaw estimate from individual EKF filter 3 (rad)\nY4Yaw estimate from individual EKF filter 4 (rad)\nW0Weighting applied to yaw estimate from individual EKF filter 0\nW1Weighting applied to yaw estimate from individual EKF filter 1\nW2Weighting applied to yaw estimate from individual EKF filter 2\nW3Weighting applied to yaw estimate from individual EKF filter 3\nW4Weighting applied to yaw estimate from individual EKF filter 4\n\nNKY1\nEKF Yaw Estimator Innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nIVN0North velocity innovation from individual EKF filter 0 (m/s)\nIVN1North velocity innovation from individual EKF filter 1 (m/s)\nIVN2North velocity innovation from individual EKF filter 2 (m/s)\nIVN3North velocity innovation from individual EKF filter 3 (m/s)\nIVN4North velocity innovation from individual EKF filter 4 (m/s)\nIVE0East velocity innovation from individual EKF filter 0 (m/s)\nIVE1East velocity innovation from individual EKF filter 1 (m/s)\nIVE2East velocity innovation from individual EKF filter 2 (m/s)\nIVE3East velocity innovation from individual EKF filter 3 (m/s)\nIVE4East velocity innovation from individual EKF filter 4 (m/s)\n\nOABR\nObject avoidance (Bendy Ruler) diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nTypeType of BendyRuler currently active\nActTrue if Bendy Ruler avoidance is being used\nDYawBest yaw chosen to avoid obstacle\nYawCurrent vehicle yaw\nDPDesired pitch chosen to avoid obstacle\nRChgTrue if BendyRuler resisted changing bearing and continued in last calculated bearing\nMarMargin from path to obstacle on best yaw chosen\nDLtDestination latitude\nDLgDestination longitude\nDAltDesired alt above EKF Origin\nOLtIntermediate location chosen for avoidance\nOLgIntermediate location chosen for avoidance\nOAltIntermediate alt chosen for avoidance above EKF origin\n\nOADJ\nObject avoidance (Dijkstra) diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nStateDijkstra avoidance library state\nErrDijkstra library error condition\nCurrPointDestination point in calculated path to destination\nTotPointsNumber of points in path to destination\nDLatDestination latitude\nDLngDestination longitude\nOALatObject Avoidance chosen destination point latitude\nOALngObject Avoidance chosen destination point longitude\n\nOF\nOptical flow sensor data\nFieldNameDescription\nTimeUSTime since system startup\nQualEstimated sensor data quality\nflowXSensor flow rate, X-axis\nflowYSensor flow rate,Y-axis\nbodyXderived velocity, X-axis\nbodyYderived velocity, Y-axis\n\nORGN\nVehicle navigation origin or other notable position\nFieldNameDescription\nTimeUSTime since system startup\nTypePosition type\nLatPosition latitude\nLngPosition longitude\nAltPosition altitude\n\nPARM\nparameter value\nFieldNameDescription\nTimeUSTime since system startup\nNameparameter name\nValueparameter value\n\nPIDA\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDP\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDR\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDS\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPIDY\nProportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering\nFieldNameDescription\nTimeUSTime since system startup\nTardesired value\nActachieved value\nErrerror between target and achieved\nPproportional part of PID\nIintegral part of PID\nDderivative part of PID\nFFcontroller feed-forward portion of response\nDmodscaler applied to D gain to reduce limit cycling\nSRateslew rate used in slew limiter\nLimit1 if I term is limited due to output saturation\n\nPL\nPrecision Landing messages\nFieldNameDescription\nTimeUSTime since system startup\nHealTrue if Precision Landing is healthy\nTAcqTrue if landing target is detected\npXTarget position relative to vehicle, X-Axis (0 if target not found)\npYTarget position relative to vehicle, Y-Axis (0 if target not found)\nvXTarget velocity relative to vehicle, X-Axis (0 if target not found)\nvYTarget velocity relative to vehicle, Y-Axis (0 if target not found)\nmXTarget's relative to origin position as 3-D Vector, X-Axis\nmYTarget's relative to origin position as 3-D Vector, Y-Axis\nmZTarget's relative to origin position as 3-D Vector, Z-Axis\nLastMeasMSTime when target was last detected\nEKFOutlEKF's outlier count\nEstType of estimator used\n\nPM\nautopilot system performance and general data dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nNLonNumber of long loops detected\nNLoopNumber of measurement loops for this message\nMaxTMaximum loop time\nMemFree memory available\nLoadSystem processor load\nIntEInternal error mask; which internal errors have been detected\nErrLInternal error line number; last line number on which a internal error was detected\nErrCInternal error count; how many internal errors have been detected\nSPICNumber of SPI transactions processed\nI2CCNumber of i2c transactions processed\nI2CINumber of i2c interrupts serviced\nExnumber of microseconds being added to each loop to address scheduler overruns\n\nPOS\nCanonical vehicle position\nFieldNameDescription\nTimeUSTime since system startup\nLatCanonical vehicle latitude\nLngCanonical vehicle longitude\nAltCanonical vehicle altitude\nRelHomeAltCanonical vehicle altitude relative to home\nRelOriginAltCanonical vehicle altitude relative to navigation origin\n\nPOWR\nSystem power information\nFieldNameDescription\nTimeUSTime since system startup\nVccFlight board voltage\nVServoServo rail voltage\nFlagsSystem power flags\nAccFlagsAccumulated System power flags; all flags which have ever been set\nSafetyHardware Safety Switch status\n\nPRTN\nPlane Parameter Tuning data\nFieldNameDescription\nTimeUSTime since system startup\nSetParameter set being tuned\nParmParameter being tuned\nValueCurrent parameter value\nCenterValueCenter value (startpoint of current modifications) of parameter being tuned\n\nPRX\nProximity Filtered sensor data\nFieldNameDescription\nTimeUSTime since system startup\nLayerPitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.\nHeTrue if proximity sensor is healthy\nD0Nearest object in sector surrounding 0-degrees\nD45Nearest object in sector surrounding 45-degrees\nD90Nearest object in sector surrounding 90-degrees\nD135Nearest object in sector surrounding 135-degrees\nD180Nearest object in sector surrounding 180-degrees\nD225Nearest object in sector surrounding 225-degrees\nD270Nearest object in sector surrounding 270-degrees\nD315Nearest object in sector surrounding 315-degrees\nDUpNearest object in upwards direction\nCAnAngle to closest object\nCDisDistance to closest object\n\nPRXR\nProximity Raw sensor data\nFieldNameDescription\nTimeUSTime since system startup\nLayerPitch(instance) at which the obstacle is at. 0th layer {-75,-45} degrees. 1st layer {-45,-15} degrees. 2nd layer {-15, 15} degrees. 3rd layer {15, 45} degrees. 4th layer {45,75} degrees. Minimum distance in each layer will be logged.\nD0Nearest object in sector surrounding 0-degrees\nD45Nearest object in sector surrounding 45-degrees\nD90Nearest object in sector surrounding 90-degrees\nD135Nearest object in sector surrounding 135-degrees\nD180Nearest object in sector surrounding 180-degrees\nD225Nearest object in sector surrounding 225-degrees\nD270Nearest object in sector surrounding 270-degrees\nD315Nearest object in sector surrounding 315-degrees\n\nPSCD\nPosition Control Down\nFieldNameDescription\nTimeUSTime since system startup\nTPDTarget position relative to EKF origin\nPDPosition relative to EKF origin\nDVDDesired velocity Down\nTVDTarget velocity Down\nVDVelocity Down\nDADDesired acceleration Down\nTADTarget acceleration Down\nADAcceleration Down\n\nPSCE\nPosition Control East\nFieldNameDescription\nTimeUSTime since system startup\nTPETarget position relative to EKF origin\nPEPosition relative to EKF origin\nDVEDesired velocity East\nTVETarget velocity East\nVEVelocity East\nDAEDesired acceleration East\nTAETarget acceleration East\nAEAcceleration East\n\nPSCN\nPosition Control North\nFieldNameDescription\nTimeUSTime since system startup\nTPNTarget position relative to EKF origin\nPNPosition relative to EKF origin\nDVNDesired velocity North\nTVNTarget velocity North\nVNVelocity North\nDANDesired acceleration North\nTANTarget acceleration North\nANAcceleration North\n\nRAD\nTelemetry radio statistics\nFieldNameDescription\nTimeUSTime since system startup\nRSSIRSSI\nRemRSSIRSSI reported from remote radio\nTxBufnumber of bytes in radio ready to be sent\nNoiselocal noise floor\nRemNoiselocal noise floor reported from remote radio\nRxErrorsdamaged packet count\nFixedfixed damaged packet count\n\nRALY\nRally point information\nFieldNameDescription\nTimeUSTime since system startup\nTottotal number of rally points onboard\nSeqthis rally point's sequence number\nLatlatitude of rally point\nLnglongitude of rally point\nAltaltitude of rally point\n\nRATE\nDesired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.\nFieldNameDescription\nTimeUSTime since system startup\nRDesvehicle desired roll rate\nRachieved vehicle roll rate\nROutnormalized output for Roll\nPDesvehicle desired pitch rate\nPvehicle pitch rate\nPOutnormalized output for Pitch\nYachieved vehicle yaw rate\nYOutnormalized output for Yaw\nYDesvehicle desired yaw rate\nADesdesired vehicle vertical acceleration\nAachieved vehicle vertical acceleration\nAOutpercentage of vertical thrust output current being used\n\nRBCH\nReplay Data Beacon Header\nFieldNameDescription\n\nRBCI\nReplay Data Beacon Instance\nFieldNameDescription\n\nRBOH\nReplay body odometry data\nFieldNameDescription\n\nRBRH\nReplay Data Barometer Header\nFieldNameDescription\n\nRBRI\nReplay Data Barometer Instance\nFieldNameDescription\n\nRCDA\nRaw RC data\nFieldNameDescription\nTimeUSTime since system startup\nTSdata arrival timestamp\nProtProtocol currently being decoded\nLenNumber of valid bytes in message\nU0first quartet of bytes\nU1second quartet of bytes\nU2third quartet of bytes\nU3fourth quartet of bytes\nU4fifth quartet of bytes\nU5sixth quartet of bytes\nU6seventh quartet of bytes\nU7eight quartet of bytes\nU8ninth quartet of bytes\nU9tenth quartet of bytes\n\nRCIN\nRC input channels to vehicle\nFieldNameDescription\nTimeUSTime since system startup\nC1channel 1 input\nC2channel 2 input\nC3channel 3 input\nC4channel 4 input\nC5channel 5 input\nC6channel 6 input\nC7channel 7 input\nC8channel 8 input\nC9channel 9 input\nC10channel 10 input\nC11channel 11 input\nC12channel 12 input\nC13channel 13 input\nC14channel 14 input\n\nRCOU\nServo channel output values\nFieldNameDescription\nTimeUSTime since system startup\nC1channel 1 output\nC2channel 2 output\nC3channel 3 output\nC4channel 4 output\nC5channel 5 output\nC6channel 6 output\nC7channel 7 output\nC8channel 8 output\nC9channel 9 output\nC10channel 10 output\nC11channel 11 output\nC12channel 12 output\nC13channel 13 output\nC14channel 14 output\n\nREPH\nReplay external position data\nFieldNameDescription\n\nREV2\nReplay Event\nFieldNameDescription\n\nREVH\nReplay external position data\nFieldNameDescription\n\nREY3\nReplay Euler Yaw event\nFieldNameDescription\n\nRFND\nRangefinder sensor information\nFieldNameDescription\nTimeUSTime since system startup\nInstancerangefinder instance number this data is from\nDistReported distance from sensor\nStatSensor state\nOrientSensor orientation\n\nRGPH\nReplay Data GPS Header\nFieldNameDescription\n\nRGPI\nReplay Data GPS Instance, infrequently changing data\nFieldNameDescription\n\nRGPJ\nReplay Data GPS Instance - rapidly changing data\nFieldNameDescription\n\nRMGH\nReplay Data Magnetometer Header\nFieldNameDescription\n\nRMGI\nReplay Data Magnetometer Instance\nFieldNameDescription\n\nROFH\nReplay optical flow data\nFieldNameDescription\n\nRPM\nData from RPM sensors\nFieldNameDescription\nTimeUSTime since system startup\nrpm1First sensor's data\nrpm2Second sensor's data\n\nRRNH\nReplay Data Rangefinder Header\nFieldNameDescription\n\nRRNI\nReplay Data Rangefinder Instance\nFieldNameDescription\n\nRSO2\nReplay Set Origin event\nFieldNameDescription\n\nRSSI\nReceived Signal Strength Indicator for RC receiver\nFieldNameDescription\nTimeUSTime since system startup\nRXRSSIRSSI\n\nRVOH\nReplay Data Visual Odometry data\nFieldNameDescription\n\nRWA2\nReplay set-default-airspeed event\nFieldNameDescription\n\nRWOH\nReplay wheel odometry data\nFieldNameDescription\n\nSA\nSimple Avoidance messages\nFieldNameDescription\nTimeUSTime since system startup\nStateTrue if Simple Avoidance is active\nDVelXDesired velocity, X-Axis (Velocity before Avoidance)\nDVelYDesired velocity, Y-Axis (Velocity before Avoidance)\nDVelZDesired velocity, Z-Axis (Velocity before Avoidance)\nMVelXModified velocity, X-Axis (Velocity after Avoidance)\nMVelYModified velocity, Y-Axis (Velocity after Avoidance)\nMVelZModified velocity, Z-Axis (Velocity after Avoidance)\nBackTrue if vehicle is backing away\n\nSBPH\nSwift Health Data\nFieldNameDescription\nTimeUSTime since system startup\nCrcErrorNumber of packet CRC errors on serial connection\nLastInjectTimestamp of last raw data injection to GPS\nIARhypCurrent number of integer ambiguity hypotheses\n\nSBRH\nSwift Raw Message Data\nFieldNameDescription\nTimeUSTime since system startup\nmsg_flagSwift message type\n1Sender ID\n2index; always 1\n3pages; number of pages received\n4msg length; number of bytes received\n5unused; always zero\n6data received from device\n\nSIM\nSITL simulator state\nFieldNameDescription\nTimeUSTime since system startup\nRollSimulated roll\nPitchSimulated pitch\nYawSimulated yaw\nAltSimulated altitude\nLatSimulated latitude\nLngSimulated longitude\nQ1Attitude quaternion component 1\nQ2Attitude quaternion component 2\nQ3Attitude quaternion component 3\nQ4Attitude quaternion component 4\n\nSIM2\nAdditional simulator state\nFieldNameDescription\nTimeUSTime since system startup\nPNNorth position from home\nPEEast position from home\nPDDown position from home\nVNVelocity north\nVEVelocity east\nVDVelocity down\n\nSITL\nSimulation data\nFieldNameDescription\nTimeUSTime since system startup\nVNVelocity - North component\nVEVelocity - East component\nVDVelocity - Down component\nANAcceleration - North component\nAEAcceleration - East component\nADAcceleration - Down component\nPNPosition - North component\nPEPosition - East component\nPDPosition - Down component\n\nSMOO\nSmoothed sensor data fed to EKF to avoid inconsistencies\nFieldNameDescription\nTimeUSTime since system startup\nAExAngular Velocity (around x-axis)\nAEyAngular Velocity (around y-axis)\nAEzAngular Velocity (around z-axis)\nDPxVelocity (along x-axis)\nDPyVelocity (along y-axis)\nDPzVelocity (along z-axis)\nRRoll\nPPitch\nYYaw\nR2DCM Roll\nP2DCM Pitch\nY2DCM Yaw\n\nSRTL\nSmartRTL statistics\nFieldNameDescription\nTimeUSTime since system startup\nActivetrue if SmartRTL could be used right now\nNumPtsnumber of points currently in use\nMaxPtsmaximum number of points that could be used\nActionmost recent internal action taken by SRTL library\nNpoint associated with most recent action (North component)\nEpoint associated with most recent action (East component)\nDpoint associated with most recent action (Down component)\n\nTERR\nTerrain database infomration\nFieldNameDescription\nTimeUSTime since system startup\nStatusTerrain database status\nLatCurrent vehicle latitude\nLngCurrent vehicle longitude\nSpacingterrain Tile spacing\nTerrHcurrent Terrain height\nCHeightVehicle height above terrain\nPendingNumber of tile requests outstanding\nLoadedNumber of tiles in memory\n\nTRIG\nCamera shutter information\nFieldNameDescription\nTimeUSTime since system startup\nGPSTimemilliseconds since start of GPS week\nGPSWeekweeks since 5 Jan 1980\nLatcurrent latitude\nLngcurrent longitude\nAltcurrent altitude\nRelAltcurrent altitude relative to home\nGPSAltaltitude as reported by GPS\nRollcurrent vehicle roll\nPitchcurrent vehicle pitch\nYawcurrent vehicle yaw\n\nTSYN\nTime synchronisation response information\nFieldNameDescription\nTimeUSTime since system startup\nSysIDsystem ID this data is for\nRTTround trip time for this system\n\nUBX1\nuBlox-specific GPS information (part 1)\nFieldNameDescription\nTimeUSTime since system startup\nInstanceGPS instance number\nnoisePerMSnoise level as measured by GPS\njamIndjamming indicator; higher is more likely jammed\naPowerantenna power indicator; 2 is don't know\nagcCntautomatic gain control monitor\nconfigbitmask for messages which haven't been seen\n\nUBX2\nuBlox-specific GPS information (part 2)\nFieldNameDescription\nTimeUSTime since system startup\nInstanceGPS instance number\nofsIimbalance of I part of complex signal\nmagImagnitude of I part of complex signal\nofsQimbalance of Q part of complex signal\nmagQmagnitude of Q part of complex signal\n\nUNIT\nMessage mapping from single character to SI unit\nFieldNameDescription\nTimeUSTime since system startup\nIdcharacter referenced by FMTU\nLabelUnit - SI where available\n\nVIBE\nProcessed (acceleration) vibration information\nFieldNameDescription\nTimeUSTime since system startup\nIMUVibration instance number\nVibeXPrimary accelerometer filtered vibration, x-axis\nVibeYPrimary accelerometer filtered vibration, y-axis\nVibeZPrimary accelerometer filtered vibration, z-axis\nClipNumber of clipping events on 1st accelerometer\n\nVISO\nVisual Odometry\nFieldNameDescription\nTimeUSSystem time\ndtTime period this data covers\nAngDXAngular change for body-frame roll axis\nAngDYAngular change for body-frame pitch axis\nAngDZAngular change for body-frame z axis\nPosDXPosition change for body-frame X axis (Forward-Back)\nPosDYPosition change for body-frame Y axis (Right-Left)\nPosDZPosition change for body-frame Z axis (Down-Up)\nconfConfidence\n\nVISP\nVision Position\nFieldNameDescription\nTimeUSSystem time\nRTimeUSRemote system time\nCTimeMSCorrected system time\nPXPosition X-axis (North-South)\nPYPosition Y-axis (East-West)\nPZPosition Z-axis (Down-Up)\nRollRoll lean angle\nPitchPitch lean angle\nYawYaw angle\nPErrPosition estimate error\nAErrAttitude estimate error\nRstPosition reset counter\nIgnIgnored\n\nVISV\nVision Velocity\nFieldNameDescription\nTimeUSSystem time\nRTimeUSRemote system time\nCTimeMSCorrected system time\nVXVelocity X-axis (North-South)\nVYVelocity Y-axis (East-West)\nVZVelocity Z-axis (Down-Up)\nVErrVelocity estimate error\nRstVelocity reset counter\nIgnIgnored\n\nWENC\nWheel encoder measurements\nFieldNameDescription\nTimeUSTime since system startup\nDist0First wheel distance travelled\nQual0Quality measurement of Dist0\nDist1Second wheel distance travelled\nQual1Quality measurement of Dist1\n\nWINC\nWinch\nFieldNameDescription\nTimeUSTime since system startup\nHealHealthy\nThEndReached end of thread\nMovMotor is moving\nClutClutch is engaged (motor can move freely)\nMode0 is Relaxed, 1 is Position Control, 2 is Rate Control\nDLenDesired Length\nLenEstimated Length\nDRateDesired Rate\nTensTension on line\nVccVoltage to Motor\nTempMotor temperature\n\nWIND\nWindvane readings\nFieldNameDescription\nTimeUSTime since system startup\nDrRawraw apparent wind direction direct from sensor, in body-frame\nDrAppApparent wind direction, in body-frame\nDrTruTrue wind direction\nSpdRawraw wind speed direct from sensor\nSpdAppApparent wind Speed\nSpdTruTrue wind speed\n\nXKF0\nEKF3 beacon sensor diagnostics\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIDBeacon sensor ID\nrngBeacon range\ninnovBeacon range innovation\nSIVsqrt of beacon range innovation variance\nTRBeacon range innovation consistency test ratio\nBPNBeacon north position\nBPEBeacon east position\nBPDBeacon down position\nOFHHigh estimate of vertical position offset of beacons rel to EKF origin\nOFLLow estimate of vertical position offset of beacons rel to EKF origin\nOFNNorth position of receiver rel to EKF origin\nOFEEast position of receiver rel to EKF origin\nOFDDown position of receiver rel to EKF origin\n\nXKF1\nEKF3 estimator outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nRollEstimated roll\nPitchEstimated pitch\nYawEstimated yaw\nVNEstimated velocity (North component)\nVEEstimated velocity (East component)\nVDEstimated velocity (Down component)\ndPDFiltered derivative of vertical position (down)\nPNEstimated distance from origin (North component)\nPEEstimated distance from origin (East component)\nPDEstimated distance from origin (Down component)\nGXEstimated gyro bias, X axis\nGYEstimated gyro bias, Y axis\nGZEstimated gyro bias, Z axis\nOHHeight of origin above WGS-84\n\nXKF2\nEKF3 estimator secondary outputs\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nAXEstimated accelerometer X bias\nAYEstimated accelerometer Y bias\nAZEstimated accelerometer Z bias\nVWNEstimated wind velocity (North component)\nVWEEstimated wind velocity (East component)\nMNMagnetic field strength (North component)\nMEMagnetic field strength (East component)\nMDMagnetic field strength (Down component)\nMXMagnetic field strength (body X-axis)\nMYMagnetic field strength (body Y-axis)\nMZMagnetic field strength (body Z-axis)\nIDXInnovation in vehicle drag acceleration (X-axis component)\nIDYInnovation in vehicle drag acceleration (Y-axis component)\nISInnovation in vehicle sideslip\n\nXKF3\nEKF3 innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIVNInnovation in velocity (North component)\nIVEInnovation in velocity (East component)\nIVDInnovation in velocity (Down component)\nIPNInnovation in position (North component)\nIPEInnovation in position (East component)\nIPDInnovation in position (Down component)\nIMXInnovation in magnetic field strength (X-axis component)\nIMYInnovation in magnetic field strength (Y-axis component)\nIMZInnovation in magnetic field strength (Z-axis component)\nIYAWInnovation in vehicle yaw\nIVTInnovation in true-airspeed\nRErrAccumulated relative error of this core with respect to active primary core\nErScA consolidated error score where higher numbers are less healthy\n\nXKF4\nEKF3 variances\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nSVSquare root of the velocity variance\nSPSquare root of the position variance\nSHSquare root of the height variance\nSMMagnetic field variance\nSVTSquare root of the total airspeed variance\nerrRPFiltered error in roll/pitch estimate\nOFNMost recent position reset (North component)\nOFEMost recent position reset (East component)\nFSFilter fault status\nTSFilter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)\nSSFilter solution status\nGPSFilter GPS status\nPIPrimary core index\n\nXKF5\nEKF3 Sensor innovations (primary core) and general dumping ground\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nNINormalised flow variance\nFIXOptical flow LOS rate vector innovations from the main nav filter (X-axis)\nFIYOptical flow LOS rate vector innovations from the main nav filter (Y-axis)\nAFIOptical flow LOS rate innovation from terrain offset estimator\nHAGLHeight above ground level\noffsetEstimated vertical position of the terrain relative to the nav filter zero datum\nRIRange finder innovations\nrngMeasured range\nHerrFilter ground offset state error\neAngMagnitude of angular error\neVelMagnitude of velocity error\nePosMagnitude of position error\n\nXKFD\nEKF3 Body Frame Odometry errors\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nIXInnovation in velocity (X-axis)\nIYInnovation in velocity (Y-axis)\nIZInnovation in velocity (Z-axis)\nIVXVariance in velocity (X-axis)\nIVYVariance in velocity (Y-axis)\nIVZVariance in velocity (Z-axis)\n\nXKFM\nEKF3 diagnostic data for on-ground-and-not-moving check\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nOGNMTrue of on ground and not moving\nGLRGyroscope length ratio\nALRAccelerometer length ratio\nGDRGyroscope rate of change ratio\nADRAccelerometer rate of change ratio\n\nXKFS\nEKF3 sensor selection\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nMIcompass selection index\nBIbarometer selection index\nGIGPS selection index\nAIairspeed selection index\n\nXKQ\nEKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nQ1Quaternion a term\nQ2Quaternion b term\nQ3Quaternion c term\nQ4Quaternion d term\n\nXKT\nEKF3 timing information\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this message instance applies to\nCntcount of samples used to create this message\nIMUMinsmallest IMU sample interval\nIMUMaxlargest IMU sample interval\nEKFMinlow-passed achieved average time step rate for the EKF (minimum)\nEKFMaxlow-passed achieved average time step rate for the EKF (maximum)\nAngMinaccumulated measurement time interval for the delta angle (minimum)\nAngMaxaccumulated measurement time interval for the delta angle (maximum)\nVMinaccumulated measurement time interval for the delta velocity (minimum)\nVMaxaccumulated measurement time interval for the delta velocity (maximum)\n\nXKTV\nEKF3 Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nTVSTilt Error Variance from symbolic equations (rad^2)\nTVDTilt Error Variance from difference method (rad^2)\n\nXKV1\nEKF3 State variances (primary core)\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nV00Variance for state 0\nV01Variance for state 1\nV02Variance for state 2\nV03Variance for state 3\nV04Variance for state 4\nV05Variance for state 5\nV06Variance for state 6\nV07Variance for state 7\nV08Variance for state 8\nV09Variance for state 9\nV10Variance for state 10\nV11Variance for state 11\n\nXKV2\nmore EKF3 State Variances (primary core)\nFieldNameDescription\nTimeUSTime since system startup\nCEKF3 core this data is for\nV12Variance for state 12\nV13Variance for state 13\nV14Variance for state 14\nV15Variance for state 15\nV16Variance for state 16\nV17Variance for state 17\nV18Variance for state 18\nV19Variance for state 19\nV20Variance for state 20\nV21Variance for state 21\nV22Variance for state 22\nV23Variance for state 23\n\nXKY0\nEKF Yaw Estimator States\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nYCGSF yaw estimate (rad)\nYCSGSF yaw estimate 1-Sigma uncertainty (rad)\nY0Yaw estimate from individual EKF filter 0 (rad)\nY1Yaw estimate from individual EKF filter 1 (rad)\nY2Yaw estimate from individual EKF filter 2 (rad)\nY3Yaw estimate from individual EKF filter 3 (rad)\nY4Yaw estimate from individual EKF filter 4 (rad)\nW0Weighting applied to yaw estimate from individual EKF filter 0\nW1Weighting applied to yaw estimate from individual EKF filter 1\nW2Weighting applied to yaw estimate from individual EKF filter 2\nW3Weighting applied to yaw estimate from individual EKF filter 3\nW4Weighting applied to yaw estimate from individual EKF filter 4\n\nXKY1\nEKF Yaw Estimator Innovations\nFieldNameDescription\nTimeUSTime since system startup\nCEKF core this data is for\nIVN0North velocity innovation from individual EKF filter 0 (m/s)\nIVN1North velocity innovation from individual EKF filter 1 (m/s)\nIVN2North velocity innovation from individual EKF filter 2 (m/s)\nIVN3North velocity innovation from individual EKF filter 3 (m/s)\nIVN4North velocity innovation from individual EKF filter 4 (m/s)\nIVE0East velocity innovation from individual EKF filter 0 (m/s)\nIVE1East velocity innovation from individual EKF filter 1 (m/s)\nIVE2East velocity innovation from individual EKF filter 2 (m/s)\nIVE3East velocity innovation from individual EKF filter 3 (m/s)\nIVE4East velocity innovation from individual EKF filter 4 (m/s)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/","path":"/software/autopilot/ArduSub-4.1/developers/log-messages/","title":"Onboard Log Messages"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/":{"body":"The MAVLink protocol supports a variety of features and functionalities, but not all messages or commands are implemented by the ArduPilot ecosystem, or relevant to a particular autopilot firmware.\nThis page is auto-generated from analysing the ArduSub source code, and provides an indication of which messages (and commands) are handled by, requestable from, and sent from the firmware. A message being handled does not guarantee full support, but at least shows that the autopilot is aware it exists, and will try to do something meaningful with it.\nKnown unsupported messages (and commands) are shown at the end.\nThe autopilot includes a set of stream groups for convenience, which allow configuring the stream rates of groups of requestable messages by setting parameter values. It is also possible to manually request messages, and request individual messages be streamed at a specified rate.\nIncoming Messages\nMessages the autopilot handles when received.\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEAP_ADSB/AP_ADSB.cppcommon\nATT_POS_MOCAPGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSION_REQUESTGCS_MAVLink/GCS_Common.cppardupilotmega\nCOMMAND_ACKGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_INTGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_LONGAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nDATA96GCS_MAVLink/GCS_Common.cppardupilotmega\nDEVICE_OP_READGCS_MAVLink/GCS_Common.cppardupilotmega\nDEVICE_OP_WRITEGCS_MAVLink/GCS_Common.cppardupilotmega\nDIGICAM_CONTROLAP_Camera/AP_Camera.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nFENCE_FETCH_POINTAC_Fence/AC_PolyFence_loader.cppardupilotmega\nFENCE_POINTAC_Fence/AC_PolyFence_loader.cppardupilotmega\nFILE_TRANSFER_PROTOCOLGCS_MAVLink/GCS_Common.cppcommon\nGIMBAL_REPORTAP_Mount/AP_Mount.cppardupilotmega\nGLOBAL_POSITION_INTAP_Mount/AP_Mount.cppcommon\nGLOBAL_VISION_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nGOPRO_HEARTBEATAP_Camera/AP_Camera.cppardupilotmega\nGPS_INJECT_DATAAP_GPS/AP_GPS.cppcommon\nGPS_INPUTAP_GPS/AP_GPS_MAV.cppcommon\nGPS_RTCM_DATAAP_GPS/AP_GPS.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHIL_GPSAP_GPS/AP_GPS_MAV.cppcommon\nLANDING_TARGETGCS_MAVLink/GCS_Common.cppcommon\nLED_CONTROLGCS_MAVLink/GCS_Common.cppardupilotmega\nLOG_ERASEAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_DATAAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_ENDAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nLOG_REQUEST_LISTAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nMANUAL_CONTROLArduSub/GCS_Mavlink.cppcommon\nMISSION_ACKGCS_MAVLink/GCS_Common.cppcommon\nMISSION_CLEAR_ALLGCS_MAVLink/GCS_Common.cppcommon\nMISSION_COUNTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEMGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_INTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUESTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUEST_INTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUEST_LISTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_SET_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_WRITE_PARTIAL_LISTGCS_MAVLink/GCS_Common.cppcommon\nMOUNT_CONFIGUREAP_Mount/AP_Mount.cppardupilotmega\nMOUNT_CONTROLAP_Mount/AP_Mount.cppardupilotmega\nOBSTACLE_DISTANCEGCS_MAVLink/GCS_Common.cppcommon\nOBSTACLE_DISTANCE_3DGCS_MAVLink/GCS_Common.cppardupilotmega\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nOSD_PARAM_CONFIGAP_OSD/AP_OSD.cppardupilotmega\nOSD_PARAM_SHOW_CONFIGAP_OSD/AP_OSD.cppardupilotmega\nPARAM_REQUEST_LISTGCS_MAVLink/GCS_Common.cppcommon\nPARAM_REQUEST_READAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nPARAM_SETAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Common.cppcommon\nPLAY_TUNEGCS_MAVLink/GCS_Common.cppcommon\nRALLY_FETCH_POINTGCS_MAVLink/GCS_Common.cppardupilotmega\nRALLY_POINTGCS_MAVLink/GCS_Common.cppardupilotmega\nRC_CHANNELS_OVERRIDEGCS_MAVLink/GCS_Common.cppcommon\nREMOTE_LOG_BLOCK_STATUSAP_Logger/AP_Logger.cppardupilotmega\nREQUEST_DATA_STREAMGCS_MAVLink/GCS_Common.cppcommon\nSERIAL_CONTROLGCS_MAVLink/GCS_Common.cppcommon\nSETUP_SIGNINGGCS_MAVLink/GCS_Common.cppcommon\nSET_ATTITUDE_TARGETArduSub/GCS_Mavlink.cppcommon\nSET_GPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nSET_HOME_POSITIONArduSub/GCS_Mavlink.cppcommon\nSET_MODEGCS_MAVLink/GCS_Common.cppcommon\nSET_POSITION_TARGET_GLOBAL_INTArduSub/GCS_Mavlink.cppcommon\nSET_POSITION_TARGET_LOCAL_NEDArduSub/GCS_Mavlink.cppcommon\nSTATUSTEXTGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSArduSub/GCS_Mavlink.cppcommon\nTERRAIN_CHECKArduSub/GCS_Mavlink.cppcommon\nTERRAIN_DATAArduSub/GCS_Mavlink.cppcommon\nTIMESYNCGCS_MAVLink/GCS_Common.cppcommon\nUAVIONIX_ADSB_OUT_CFGAP_ADSB/AP_ADSB.cppuAvionix\nUAVIONIX_ADSB_OUT_DYNAMICAP_ADSB/AP_ADSB.cppuAvionix\nUAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORTAP_ADSB/AP_ADSB.cppuAvionix\nVICON_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nVISION_POSITION_DELTAGCS_MAVLink/GCS_Common.cppardupilotmega\nVISION_POSITION_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\nVISION_SPEED_ESTIMATEGCS_MAVLink/GCS_Common.cppcommon\n\nIncoming Commands\nCommands the autopilot handles when received.\nMAVLink MessageCode SourceMAVLink Dialect\nMAV_CMD_ACCELCAL_VEHICLE_POSAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_BATTERY_RESETAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_COMPONENT_ARM_DISARMAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_CONDITION_DELAYArduSub/commands_logic.cppcommon\nMAV_CMD_CONDITION_DISTANCEArduSub/commands_logic.cppcommon\nMAV_CMD_CONDITION_YAWArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DEBUG_TRAPGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_DO_ACCEPT_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_AUTOTUNE_ENABLEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_AUX_FUNCTIONAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_CANCEL_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_CHANGE_SPEEDArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DO_CONTROL_VIDEOArduSub/commands_logic.cppcommon\nMAV_CMD_DO_DIGICAM_CONFIGUREAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_DIGICAM_CONTROLAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_ENGINE_CONTROLAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_FENCE_ENABLEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_FLIGHTTERMINATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_GO_AROUNDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_GRIPPERAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_GUIDED_LIMITSArduSub/commands_logic.cppcommon\nMAV_CMD_DO_INVERTED_FLIGHTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_JUMPAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_LAND_STARTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_MOTOR_TESTArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_DO_MOUNT_CONFIGUREAP_Mount/AP_Mount.cppcommon\nMAV_CMD_DO_MOUNT_CONTROLArduSub/commands_logic.cppcommon\nMAV_CMD_DO_PARACHUTEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_REPEAT_RELAYAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_REPEAT_SERVOAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SEND_BANNERGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_DO_SEND_SCRIPT_MESSAGEAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_SET_CAM_TRIGG_DISTArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_HOMEArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_MISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMAV_CMD_DO_SET_MODEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_SET_RELAYAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SET_RESUME_REPEAT_DISTAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_SET_REVERSEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_SET_ROIArduSub/commands_logic.cppcommon\nMAV_CMD_DO_SET_ROI_LOCATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_SET_ROI_SYSIDAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_DO_SET_SERVOAP_Mission/AP_Mission_Commands.cppcommon\nMAV_CMD_DO_SPRAYERAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_DO_START_MAG_CALAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAV_CMD_DO_VTOL_TRANSITIONAP_Mission/AP_Mission.cppcommon\nMAV_CMD_DO_WINCHAP_Mission/AP_Mission.cppcommon\nMAV_CMD_FIXED_MAG_CAL_YAWAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_FLASH_BOOTLOADERAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppardupilotmega\nMAV_CMD_GET_HOME_POSITIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_GET_MESSAGE_INTERVALAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_MISSION_STARTArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_ALTITUDE_WAITAP_Mission/AP_Mission.cppardupilotmega\nMAV_CMD_NAV_CONTINUE_AND_CHANGE_ALTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_DELAYArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_FENCE_CIRCLE_EXCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_CIRCLE_INCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSIONGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_FENCE_RETURN_POINTGCS_MAVLink/MissionItemProtocol_Fence.cppcommon\nMAV_CMD_NAV_GUIDED_ENABLEArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LANDArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_LOITER_TIMEArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LOITER_TO_ALTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_LOITER_TURNSArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_LOITER_UNLIMArduSub/GCS_Mavlink.cppcommon\nMAV_CMD_NAV_PAYLOAD_PLACEAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_RETURN_TO_LAUNCHArduSub/commands_logic.cppcommon\nMAV_CMD_NAV_SET_YAW_SPEEDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_SPLINE_WAYPOINTAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_TAKEOFFAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_TAKEOFF_LOCALAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_VTOL_LANDAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_VTOL_TAKEOFFAP_Mission/AP_Mission.cppcommon\nMAV_CMD_NAV_WAYPOINTArduSub/commands_logic.cppcommon\nMAV_CMD_PREFLIGHT_CALIBRATIONAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_REBOOT_SHUTDOWNAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETSAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_STORAGEAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_PREFLIGHT_UAVCANAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_REQUEST_AUTOPILOT_CAPABILITIESAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_REQUEST_MESSAGEAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_RUN_PREARM_CHECKSGCS_MAVLink/GCS_Common.cppcommon\nMAV_CMD_SCRIPTINGGCS_MAVLink/GCS_Common.cppardupilotmega\nMAV_CMD_SET_MESSAGE_INTERVALAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\nMAV_CMD_START_RX_PAIRAP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cppcommon\n\nRequestable Messages\nMessages that can be requested/streamed from the autopilot.\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEGCS_MAVLink/GCS_Common.cppcommon\nAHRSGCS_MAVLink/GCS_Common.cppardupilotmega\nAHRS2GCS_MAVLink/GCS_Common.cppardupilotmega\nAOA_SSAGCS_MAVLink/GCS_Common.cppardupilotmega\nATTITUDEGCS_MAVLink/GCS_Common.cppcommon\nATTITUDE_QUATERNIONGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSIONGCS_MAVLink/GCS_Common.cppcommon\nBATTERY2GCS_MAVLink/GCS_Common.cppardupilotmega\nBATTERY_STATUSGCS_MAVLink/GCS_Common.cppcommon\nCAMERA_FEEDBACKGCS_MAVLink/GCS_Common.cppardupilotmega\nDEEPSTALLGCS_MAVLink/GCS_Common.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nEFI_STATUSGCS_MAVLink/GCS_Common.cppcommon\nEKF_STATUS_REPORTGCS_MAVLink/GCS_Common.cppardupilotmega\nESC_TELEMETRY_1_TO_4GCS_MAVLink/GCS_Common.cppardupilotmega\nEXTENDED_SYS_STATEGCS_MAVLink/GCS_Common.cppcommon\nFENCE_STATUSGCS_MAVLink/GCS_Common.cppcommon\nGENERATOR_STATUSGCS_MAVLink/GCS_Common.cppcommon\nGIMBAL_REPORTGCS_MAVLink/GCS_Common.cppardupilotmega\nGLOBAL_POSITION_INTGCS_MAVLink/GCS_Common.cppcommon\nGPS2_RAWGCS_MAVLink/GCS_Common.cppcommon\nGPS2_RTKGCS_MAVLink/GCS_Common.cppcommon\nGPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nGPS_RAW_INTGCS_MAVLink/GCS_Common.cppcommon\nGPS_RTKGCS_MAVLink/GCS_Common.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHOME_POSITIONGCS_MAVLink/GCS_Common.cppcommon\nHWSTATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nLOCAL_POSITION_NEDGCS_MAVLink/GCS_Common.cppcommon\nMAG_CAL_PROGRESSGCS_MAVLink/GCS_Common.cppardupilotmega\nMAG_CAL_REPORTGCS_MAVLink/GCS_Common.cppcommon\nMEMINFOGCS_MAVLink/GCS_Common.cppardupilotmega\nMISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_REACHEDGCS_MAVLink/GCS_Common.cppcommon\nMOUNT_STATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nNAV_CONTROLLER_OUTPUTGCS_MAVLink/GCS_Common.cppcommon\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Common.cppcommon\nPID_TUNINGGCS_MAVLink/GCS_Common.cppardupilotmega\nPOSITION_TARGET_GLOBAL_INTGCS_MAVLink/GCS_Common.cppcommon\nPOSITION_TARGET_LOCAL_NEDGCS_MAVLink/GCS_Common.cppcommon\nPOWER_STATUSGCS_MAVLink/GCS_Common.cppcommon\nRANGEFINDERGCS_MAVLink/GCS_Common.cppardupilotmega\nRAW_IMUGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELSGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_RAWGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_SCALEDGCS_MAVLink/GCS_Common.cppcommon\nRPMGCS_MAVLink/GCS_Common.cppardupilotmega\nSCALED_IMUGCS_MAVLink/GCS_Common.cppcommon\nSCALED_IMU2GCS_MAVLink/GCS_Common.cppcommon\nSCALED_IMU3GCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSUREGCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSURE2GCS_MAVLink/GCS_Common.cppcommon\nSCALED_PRESSURE3GCS_MAVLink/GCS_Common.cppcommon\nSENSOR_OFFSETSGCS_MAVLink/GCS_Common.cppardupilotmega\nSERVO_OUTPUT_RAWGCS_MAVLink/GCS_Common.cppcommon\nSIMSTATEGCS_MAVLink/GCS_Common.cppardupilotmega\nSIM_STATEGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSGCS_MAVLink/GCS_Common.cppcommon\nTERRAIN_REQUESTGCS_MAVLink/GCS_Common.cppcommon\nVFR_HUDGCS_MAVLink/GCS_Common.cppcommon\nVIBRATIONGCS_MAVLink/GCS_Common.cppcommon\nWATER_DEPTHGCS_MAVLink/GCS_Common.cppardupilotmega\nWINCH_STATUSGCS_MAVLink/GCS_Common.cppcommon\nWINDGCS_MAVLink/GCS_Common.cppardupilotmega\n\nOutgoing Messages\nMessages the autopilot will send automatically (unrequested).\nMAVLink MessageCode SourceMAVLink Dialect\nADSB_VEHICLEAP_ADSB/AP_ADSB.cppcommon\nAHRSGCS_MAVLink/GCS_Common.cppardupilotmega\nAHRS2GCS_MAVLink/GCS_Common.cppardupilotmega\nAP_ADCAP_HAL_ChibiOS/AnalogIn.cppardupilotmega\nATTITUDEGCS_MAVLink/GCS_Common.cppcommon\nATTITUDE_QUATERNIONGCS_MAVLink/GCS_Common.cppcommon\nAUTOPILOT_VERSIONGCS_MAVLink/GCS_Common.cppcommon\nBATTERY2GCS_MAVLink/GCS_Common.cppardupilotmega\nBATTERY_STATUSGCS_MAVLink/GCS_Common.cppcommon\nCAMERA_FEEDBACKAP_Camera/AP_Camera.cppardupilotmega\nCOMMAND_ACKGCS_MAVLink/GCS_Common.cppcommon\nCOMMAND_LONGAP_Mount/AP_Mount_SToRM32.cppcommon\nDATA16AP_Radio/AP_Radio_cc2500.cppardupilotmega\nDEEPSTALLAP_Landing/AP_Landing_Deepstall.cppardupilotmega\nDEVICE_OP_READ_REPLYGCS_MAVLink/GCS_DeviceOp.cppardupilotmega\nDEVICE_OP_WRITE_REPLYGCS_MAVLink/GCS_DeviceOp.cppardupilotmega\nDISTANCE_SENSORGCS_MAVLink/GCS_Common.cppcommon\nEFI_STATUSAP_EFI/AP_EFI.cppcommon\nEKF_STATUS_REPORTAP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cppardupilotmega\nESC_TELEMETRY_1_TO_4AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nESC_TELEMETRY_5_TO_8AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nESC_TELEMETRY_9_TO_12AP_ESC_Telem/AP_ESC_Telem.cppardupilotmega\nEXTENDED_SYS_STATEGCS_MAVLink/GCS_Common.cppcommon\nFENCE_STATUSGCS_MAVLink/GCS_Fence.cppcommon\nFILE_TRANSFER_PROTOCOLGCS_MAVLink/GCS_FTP.cppcommon\nGENERATOR_STATUSAP_Generator/AP_Generator_RichenPower.cppcommon\nGIMBAL_CONTROLAP_Mount/SoloGimbal.cppardupilotmega\nGLOBAL_POSITION_INTGCS_MAVLink/GCS_Common.cppcommon\nGOPRO_SET_REQUESTAP_Camera/AP_Camera_SoloGimbal.cppardupilotmega\nGPS2_RAWAP_GPS/AP_GPS.cppcommon\nGPS2_RTKAP_GPS/GPS_Backend.cppcommon\nGPS_GLOBAL_ORIGINGCS_MAVLink/GCS_Common.cppcommon\nGPS_RAW_INTAP_GPS/AP_GPS.cppcommon\nGPS_RTKAP_GPS/GPS_Backend.cppcommon\nHEARTBEATGCS_MAVLink/GCS_Common.cppcommon\nHOME_POSITIONGCS_MAVLink/GCS_Common.cppcommon\nHWSTATUSGCS_MAVLink/GCS_Common.cppardupilotmega\nLOCAL_POSITION_NEDGCS_MAVLink/GCS_Common.cppcommon\nLOG_ENTRYAP_Logger/AP_Logger_MAVLinkLogTransfer.cppcommon\nMAG_CAL_PROGRESSAP_Compass/AP_Compass_Calibration.cppardupilotmega\nMAG_CAL_REPORTAP_Compass/AP_Compass_Calibration.cppcommon\nMEMINFOGCS_MAVLink/GCS_Common.cppardupilotmega\nMESSAGE_INTERVALGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ACKGCS_MAVLink/GCS_Common.cppcommon\nMISSION_COUNTGCS_MAVLink/MissionItemProtocol_Waypoints.cppcommon\nMISSION_CURRENTGCS_MAVLink/GCS_Common.cppcommon\nMISSION_ITEM_REACHEDGCS_MAVLink/GCS_Common.cppcommon\nMISSION_REQUESTGCS_MAVLink/MissionItemProtocol.cppcommon\nMOUNT_STATUSAP_Mount/AP_Mount_Alexmos.cppardupilotmega\nNAMED_VALUE_FLOATGCS_MAVLink/GCS_Common.cppcommon\nNAV_CONTROLLER_OUTPUTArduSub/GCS_Mavlink.cppcommon\nOPTICAL_FLOWGCS_MAVLink/GCS_Common.cppcommon\nOSD_PARAM_CONFIG_REPLYAP_OSD/AP_OSD.cppardupilotmega\nOSD_PARAM_SHOW_CONFIG_REPLYAP_OSD/AP_OSD.cppardupilotmega\nPARAM_REQUEST_LISTAP_Mount/SoloGimbal_Parameters.cppcommon\nPARAM_SETAP_Mount/SoloGimbal_Parameters.cppcommon\nPARAM_VALUEGCS_MAVLink/GCS_Param.cppcommon\nPID_TUNINGArduSub/GCS_Mavlink.cppardupilotmega\nPOWER_STATUSGCS_MAVLink/GCS_Common.cppcommon\nRALLY_POINTGCS_MAVLink/GCS_Rally.cppardupilotmega\nRANGEFINDERGCS_MAVLink/GCS_Common.cppardupilotmega\nRAW_IMUGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELSGCS_MAVLink/GCS_Common.cppcommon\nRC_CHANNELS_RAWGCS_MAVLink/GCS_Common.cppcommon\nRPMGCS_MAVLink/GCS_Common.cppardupilotmega\nSCALED_PRESSURE3ArduSub/GCS_Mavlink.cppcommon\nSENSOR_OFFSETSGCS_MAVLink/GCS_Common.cppardupilotmega\nSERVO_OUTPUT_RAWGCS_MAVLink/GCS_Common.cppcommon\nSET_POSITION_TARGET_GLOBAL_INTGCS_MAVLink/GCS_Common.cppcommon\nSTATUSTEXTGCS_MAVLink/GCS_Common.cppcommon\nSYSTEM_TIMEGCS_MAVLink/GCS_Common.cppcommon\nSYS_STATUSGCS_MAVLink/GCS_Common.cppcommon\nTERRAIN_REPORTAP_Terrain/TerrainGCS.cppcommon\nTERRAIN_REQUESTAP_Terrain/TerrainGCS.cppcommon\nTIMESYNCGCS_MAVLink/GCS_Common.cppcommon\nUAVIONIX_ADSB_OUT_CFGAP_ADSB/AP_ADSB_uAvionix_MAVLink.cppuAvionix\nUAVIONIX_ADSB_OUT_DYNAMICAP_ADSB/AP_ADSB_uAvionix_MAVLink.cppuAvionix\nVFR_HUDGCS_MAVLink/GCS_Common.cppcommon\nVIBRATIONGCS_MAVLink/GCS_Common.cppcommon\nWATER_DEPTHGCS_MAVLink/GCS_Common.cppardupilotmega\nWINCH_STATUSAP_Winch/AP_Winch_Daiwa.cppcommon\nWINDAP_WindVane/AP_WindVane.cppardupilotmega\n\nNamed Floats\nBreakout of named floating-point (numerical) values sent by the autopilot.\nMAVLink MessageCode SourceMAVLink Dialect\nNAMED_VALUE_FLOAT:CamPanArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:CamTiltArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:InputHoldArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:Lights1ArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:Lights2ArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:PilotGainArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:RollPitchArduSub/GCS_Mavlink.cppcommon\nNAMED_VALUE_FLOAT:TetherTrnArduSub/GCS_Mavlink.cppcommon\n\nStream Groups\nMessage groups with stream rates requestable by SRn_* parameters. Messages in a group are only sent if the corresponding feature is active.\nMAVLink MessageStream Group ParameterMAVLink Dialect\nRAW_IMUSRn_RAW_SENSORScommon\nSCALED_IMU2SRn_RAW_SENSORScommon\nSCALED_IMU3SRn_RAW_SENSORScommon\nSCALED_PRESSURESRn_RAW_SENSORScommon\nSCALED_PRESSURE2SRn_RAW_SENSORScommon\nSCALED_PRESSURE3SRn_RAW_SENSORScommon\nSENSOR_OFFSETSSRn_RAW_SENSORSardupilotmega\nFENCE_STATUSSRn_EXTENDED_STATUScommon\nGPS2_RAWSRn_EXTENDED_STATUScommon\nGPS2_RTKSRn_EXTENDED_STATUScommon\nGPS_RAW_INTSRn_EXTENDED_STATUScommon\nGPS_RTKSRn_EXTENDED_STATUScommon\nMEMINFOSRn_EXTENDED_STATUSardupilotmega\nMISSION_CURRENTSRn_EXTENDED_STATUScommon\nNAMED_VALUE_FLOATSRn_EXTENDED_STATUScommon\nNAV_CONTROLLER_OUTPUTSRn_EXTENDED_STATUScommon\nPOWER_STATUSSRn_EXTENDED_STATUScommon\nSYS_STATUSSRn_EXTENDED_STATUScommon\nGLOBAL_POSITION_INTSRn_POSITIONcommon\nLOCAL_POSITION_NEDSRn_POSITIONcommon\nRC_CHANNELSSRn_RC_CHANNELScommon\nRC_CHANNELS_RAWSRn_RC_CHANNELScommon\nSERVO_OUTPUT_RAWSRn_RC_CHANNELScommon\nAHRS2SRn_EXTRA1ardupilotmega\nATTITUDESRn_EXTRA1common\nPID_TUNINGSRn_EXTRA1ardupilotmega\nSIMSTATESRn_EXTRA1ardupilotmega\nVFR_HUDSRn_EXTRA2common\nAHRSSRn_EXTRA3ardupilotmega\nBATTERY2SRn_EXTRA3ardupilotmega\nBATTERY_STATUSSRn_EXTRA3common\nDISTANCE_SENSORSRn_EXTRA3common\nEKF_STATUS_REPORTSRn_EXTRA3ardupilotmega\nESC_TELEMETRY_1_TO_4SRn_EXTRA3ardupilotmega\nGIMBAL_REPORTSRn_EXTRA3ardupilotmega\nHWSTATUSSRn_EXTRA3ardupilotmega\nMAG_CAL_PROGRESSSRn_EXTRA3ardupilotmega\nMAG_CAL_REPORTSRn_EXTRA3common\nMOUNT_STATUSSRn_EXTRA3ardupilotmega\nOPTICAL_FLOWSRn_EXTRA3common\nRANGEFINDERSRn_EXTRA3ardupilotmega\nRPMSRn_EXTRA3ardupilotmega\nSYSTEM_TIMESRn_EXTRA3common\nTERRAIN_REQUESTSRn_EXTRA3common\nVIBRATIONSRn_EXTRA3common\nPARAM_VALUESRn_PARAMScommon\n\nMissing Messages\nUnsupported / unhandled messages.\nMAVLink MessageCode SourceMAVLink Dialect\nACTUATOR_CONTROL_TARGETUNSUPPORTEDcommon\nACTUATOR_OUTPUT_STATUSUNSUPPORTEDcommon\nADAP_TUNINGUNSUPPORTEDardupilotmega\nAHRS3UNSUPPORTEDardupilotmega\nAIRSPEED_AUTOCALUNSUPPORTEDardupilotmega\nAIS_VESSELUNSUPPORTEDcommon\nALTITUDEUNSUPPORTEDcommon\nATTITUDE_QUATERNION_COVUNSUPPORTEDcommon\nATTITUDE_TARGETUNSUPPORTEDcommon\nAUTH_KEYUNSUPPORTEDcommon\nAUTOPILOT_STATE_FOR_GIMBAL_DEVICEUNSUPPORTEDcommon\nBAD_DATAUNSUPPORTEDcommon\nBUTTON_CHANGEUNSUPPORTEDcommon\nCAMERA_CAPTURE_STATUSUNSUPPORTEDcommon\nCAMERA_IMAGE_CAPTUREDUNSUPPORTEDcommon\nCAMERA_INFORMATIONUNSUPPORTEDcommon\nCAMERA_SETTINGSUNSUPPORTEDcommon\nCAMERA_STATUSUNSUPPORTEDardupilotmega\nCAMERA_TRIGGERUNSUPPORTEDcommon\nCANFD_FRAMEUNSUPPORTEDcommon\nCAN_FILTER_MODIFYUNSUPPORTEDcommon\nCAN_FRAMEUNSUPPORTEDcommon\nCHANGE_OPERATOR_CONTROLUNSUPPORTEDcommon\nCHANGE_OPERATOR_CONTROL_ACKUNSUPPORTEDcommon\nCOLLISIONUNSUPPORTEDcommon\nCOMPASSMOT_STATUSUNSUPPORTEDardupilotmega\nCONTROL_SYSTEM_STATEUNSUPPORTEDcommon\nCUBEPILOT_FIRMWARE_UPDATE_RESPUNSUPPORTEDcubepilot\nCUBEPILOT_FIRMWARE_UPDATE_STARTUNSUPPORTEDcubepilot\nCUBEPILOT_RAW_RCUNSUPPORTEDcubepilot\nDATA32UNSUPPORTEDardupilotmega\nDATA64UNSUPPORTEDardupilotmega\nDATA_STREAMUNSUPPORTEDcommon\nDATA_TRANSMISSION_HANDSHAKEUNSUPPORTEDcommon\nDEBUGUNSUPPORTEDcommon\nDEBUG_FLOAT_ARRAYUNSUPPORTEDcommon\nDEBUG_VECTUNSUPPORTEDcommon\nDIGICAM_CONFIGUREUNSUPPORTEDardupilotmega\nENCAPSULATED_DATAUNSUPPORTEDcommon\nESC_TELEMETRY_13_TO_16UNSUPPORTEDardupilotmega\nESC_TELEMETRY_17_TO_20UNSUPPORTEDardupilotmega\nESC_TELEMETRY_21_TO_24UNSUPPORTEDardupilotmega\nESC_TELEMETRY_25_TO_28UNSUPPORTEDardupilotmega\nESC_TELEMETRY_29_TO_32UNSUPPORTEDardupilotmega\nESTIMATOR_STATUSUNSUPPORTEDcommon\nFLIGHT_INFORMATIONUNSUPPORTEDcommon\nFOLLOW_TARGETUNSUPPORTEDcommon\nGIMBAL_DEVICE_ATTITUDE_STATUSUNSUPPORTEDcommon\nGIMBAL_DEVICE_INFORMATIONUNSUPPORTEDcommon\nGIMBAL_DEVICE_SET_ATTITUDEUNSUPPORTEDcommon\nGIMBAL_TORQUE_CMD_REPORTUNSUPPORTEDardupilotmega\nGLOBAL_POSITION_INT_COVUNSUPPORTEDcommon\nGOPRO_GET_REQUESTUNSUPPORTEDardupilotmega\nGOPRO_GET_RESPONSEUNSUPPORTEDardupilotmega\nGOPRO_SET_RESPONSEUNSUPPORTEDardupilotmega\nGPS_STATUSUNSUPPORTEDcommon\nHERELINK_TELEMUNSUPPORTEDcubepilot\nHERELINK_VIDEO_STREAM_INFORMATIONUNSUPPORTEDcubepilot\nHIGHRES_IMUUNSUPPORTEDcommon\nHIGH_LATENCYUNSUPPORTEDcommon\nHIGH_LATENCY2UNSUPPORTEDcommon\nHIL_ACTUATOR_CONTROLSUNSUPPORTEDcommon\nHIL_CONTROLSUNSUPPORTEDcommon\nHIL_OPTICAL_FLOWUNSUPPORTEDcommon\nHIL_RC_INPUTS_RAWUNSUPPORTEDcommon\nHIL_SENSORUNSUPPORTEDcommon\nHIL_STATEUNSUPPORTEDcommon\nHIL_STATE_QUATERNIONUNSUPPORTEDcommon\nHYGROMETER_SENSORUNSUPPORTEDcommon\nICAROUS_HEARTBEATUNSUPPORTEDicarous\nICAROUS_KINEMATIC_BANDSUNSUPPORTEDicarous\nISBD_LINK_STATUSUNSUPPORTEDcommon\nLIMITS_STATUSUNSUPPORTEDardupilotmega\nLOCAL_POSITION_NED_COVUNSUPPORTEDcommon\nLOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSETUNSUPPORTEDcommon\nLOGGING_ACKUNSUPPORTEDcommon\nLOGGING_DATAUNSUPPORTEDcommon\nLOGGING_DATA_ACKEDUNSUPPORTEDcommon\nLOG_DATAUNSUPPORTEDcommon\nLOWEHEISER_GOV_EFIUNSUPPORTEDardupilotmega\nMANUAL_SETPOINTUNSUPPORTEDcommon\nMCU_STATUSUNSUPPORTEDardupilotmega\nMEMORY_VECTUNSUPPORTEDcommon\nMISSION_REQUEST_PARTIAL_LISTUNSUPPORTEDcommon\nMOUNT_ORIENTATIONUNSUPPORTEDcommon\nNAMED_VALUE_INTUNSUPPORTEDcommon\nODOMETRYUNSUPPORTEDcommon\nOPEN_DRONE_ID_ARM_STATUSUNSUPPORTEDcommon\nOPEN_DRONE_ID_AUTHENTICATIONUNSUPPORTEDcommon\nOPEN_DRONE_ID_BASIC_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_LOCATIONUNSUPPORTEDcommon\nOPEN_DRONE_ID_MESSAGE_PACKUNSUPPORTEDcommon\nOPEN_DRONE_ID_OPERATOR_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_SELF_IDUNSUPPORTEDcommon\nOPEN_DRONE_ID_SYSTEMUNSUPPORTEDcommon\nOPEN_DRONE_ID_SYSTEM_UPDATEUNSUPPORTEDcommon\nOPTICAL_FLOW_RADUNSUPPORTEDcommon\nPARAM_EXT_ACKUNSUPPORTEDcommon\nPARAM_EXT_REQUEST_LISTUNSUPPORTEDcommon\nPARAM_EXT_REQUEST_READUNSUPPORTEDcommon\nPARAM_EXT_SETUNSUPPORTEDcommon\nPARAM_EXT_VALUEUNSUPPORTEDcommon\nPARAM_MAP_RCUNSUPPORTEDcommon\nPINGUNSUPPORTEDcommon\nRADIOUNSUPPORTEDardupilotmega\nRADIO_STATUSUNSUPPORTEDcommon\nRAW_PRESSUREUNSUPPORTEDcommon\nRAW_RPMUNSUPPORTEDcommon\nREMOTE_LOG_DATA_BLOCKUNSUPPORTEDardupilotmega\nRESOURCE_REQUESTUNSUPPORTEDcommon\nSAFETY_ALLOWED_AREAUNSUPPORTEDcommon\nSAFETY_SET_ALLOWED_AREAUNSUPPORTEDcommon\nSECURE_COMMANDUNSUPPORTEDardupilotmega\nSECURE_COMMAND_REPLYUNSUPPORTEDardupilotmega\nSET_ACTUATOR_CONTROL_TARGETUNSUPPORTEDcommon\nSET_MAG_OFFSETSUNSUPPORTEDardupilotmega\nSMART_BATTERY_INFOUNSUPPORTEDcommon\nSTORAGE_INFORMATIONUNSUPPORTEDcommon\nTUNNELUNSUPPORTEDcommon\nUAVCAN_NODE_INFOUNSUPPORTEDcommon\nUAVCAN_NODE_STATUSUNSUPPORTEDcommon\nUAVIONIX_ADSB_GETUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CFG_FLIGHTIDUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CFG_REGISTRATIONUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_CONTROLUNSUPPORTEDuAvionix\nUAVIONIX_ADSB_OUT_STATUSUNSUPPORTEDuAvionix\nUNKNOWNUNSUPPORTEDcommon\nUTM_GLOBAL_POSITIONUNSUPPORTEDcommon\nV2_EXTENSIONUNSUPPORTEDcommon\nVIDEO_STREAM_INFORMATIONUNSUPPORTEDcommon\nVIDEO_STREAM_STATUSUNSUPPORTEDcommon\nWHEEL_DISTANCEUNSUPPORTEDcommon\nWIFI_CONFIG_APUNSUPPORTEDcommon\nWIND_COVUNSUPPORTEDcommon\n\nMissing Commands\nUnsupported / unhandled commands.\nMAVLink MessageCode SourceMAVLink Dialect\nMAV_CMD_AIRFRAME_CONFIGURATIONUNSUPPORTEDcommon\nMAV_CMD_ARM_AUTHORIZATION_REQUESTUNSUPPORTEDcommon\nMAV_CMD_CAN_FORWARDUNSUPPORTEDcommon\nMAV_CMD_CONDITION_CHANGE_ALTUNSUPPORTEDcommon\nMAV_CMD_CONDITION_LASTUNSUPPORTEDcommon\nMAV_CMD_CONTROL_HIGH_LATENCYUNSUPPORTEDcommon\nMAV_CMD_DO_ADSB_OUT_IDENTUNSUPPORTEDcommon\nMAV_CMD_DO_CHANGE_ALTITUDEUNSUPPORTEDcommon\nMAV_CMD_DO_FOLLOWUNSUPPORTEDcommon\nMAV_CMD_DO_FOLLOW_REPOSITIONUNSUPPORTEDcommon\nMAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWUNSUPPORTEDcommon\nMAV_CMD_DO_GUIDED_MASTERUNSUPPORTEDcommon\nMAV_CMD_DO_JUMP_TAGUNSUPPORTEDcommon\nMAV_CMD_DO_LASTUNSUPPORTEDcommon\nMAV_CMD_DO_MOUNT_CONTROL_QUATUNSUPPORTEDcommon\nMAV_CMD_DO_PAUSE_CONTINUEUNSUPPORTEDcommon\nMAV_CMD_DO_RALLY_LANDUNSUPPORTEDcommon\nMAV_CMD_DO_REPOSITIONUNSUPPORTEDcommon\nMAV_CMD_DO_SET_CAM_TRIGG_INTERVALUNSUPPORTEDcommon\nMAV_CMD_DO_SET_PARAMETERUNSUPPORTEDcommon\nMAV_CMD_DO_SET_ROI_NONEUNSUPPORTEDcommon\nMAV_CMD_DO_SET_ROI_WPNEXT_OFFSETUNSUPPORTEDcommon\nMAV_CMD_DO_TRIGGER_CONTROLUNSUPPORTEDcommon\nMAV_CMD_ENUM_ENDUNSUPPORTEDcommon\nMAV_CMD_FIXED_MAG_CALUNSUPPORTEDardupilotmega\nMAV_CMD_FIXED_MAG_CAL_FIELDUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUSUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_FULL_RESETUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATIONUNSUPPORTEDardupilotmega\nMAV_CMD_GIMBAL_RESETUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_ALTITUDEUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_HEADINGUNSUPPORTEDardupilotmega\nMAV_CMD_GUIDED_CHANGE_SPEEDUNSUPPORTEDardupilotmega\nMAV_CMD_IMAGE_START_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_IMAGE_STOP_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_JUMP_TAGUNSUPPORTEDcommon\nMAV_CMD_LOGGING_STARTUNSUPPORTEDcommon\nMAV_CMD_LOGGING_STOPUNSUPPORTEDcommon\nMAV_CMD_LOWEHEISER_SET_STATEUNSUPPORTEDardupilotmega\nMAV_CMD_NAV_ATTITUDE_TIMEUNSUPPORTEDardupilotmega\nMAV_CMD_NAV_FOLLOWUNSUPPORTEDcommon\nMAV_CMD_NAV_LAND_LOCALUNSUPPORTEDcommon\nMAV_CMD_NAV_LASTUNSUPPORTEDcommon\nMAV_CMD_NAV_PATHPLANNINGUNSUPPORTEDcommon\nMAV_CMD_NAV_RALLY_POINTUNSUPPORTEDcommon\nMAV_CMD_NAV_ROIUNSUPPORTEDcommon\nMAV_CMD_NAV_SCRIPT_TIMEUNSUPPORTEDardupilotmega\nMAV_CMD_OBLIQUE_SURVEYUNSUPPORTEDcommon\nMAV_CMD_OVERRIDE_GOTOUNSUPPORTEDcommon\nMAV_CMD_PANORAMA_CREATEUNSUPPORTEDcommon\nMAV_CMD_PAYLOAD_CONTROL_DEPLOYUNSUPPORTEDcommon\nMAV_CMD_PAYLOAD_PREPARE_DEPLOYUNSUPPORTEDcommon\nMAV_CMD_POWER_OFF_INITIATEDUNSUPPORTEDardupilotmega\nMAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSUNSUPPORTEDcommon\nMAV_CMD_REQUEST_CAMERA_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_CAMERA_SETTINGSUNSUPPORTEDcommon\nMAV_CMD_REQUEST_FLIGHT_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_PROTOCOL_VERSIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_STORAGE_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONUNSUPPORTEDcommon\nMAV_CMD_REQUEST_VIDEO_STREAM_STATUSUNSUPPORTEDcommon\nMAV_CMD_RESET_CAMERA_SETTINGSUNSUPPORTEDcommon\nMAV_CMD_SET_CAMERA_MODEUNSUPPORTEDcommon\nMAV_CMD_SET_EKF_SOURCE_SETUNSUPPORTEDardupilotmega\nMAV_CMD_SET_FACTORY_TEST_MODEUNSUPPORTEDardupilotmega\nMAV_CMD_SET_GUIDED_SUBMODE_CIRCLEUNSUPPORTEDcommon\nMAV_CMD_SET_GUIDED_SUBMODE_STANDARDUNSUPPORTEDcommon\nMAV_CMD_SOLO_BTN_FLY_CLICKUNSUPPORTEDardupilotmega\nMAV_CMD_SOLO_BTN_FLY_HOLDUNSUPPORTEDardupilotmega\nMAV_CMD_SOLO_BTN_PAUSE_CLICKUNSUPPORTEDardupilotmega\nMAV_CMD_SPATIAL_USER_1UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_2UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_3UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_4UNSUPPORTEDcommon\nMAV_CMD_SPATIAL_USER_5UNSUPPORTEDcommon\nMAV_CMD_STORAGE_FORMATUNSUPPORTEDcommon\nMAV_CMD_UAVCAN_GET_NODE_INFOUNSUPPORTEDcommon\nMAV_CMD_USER_1UNSUPPORTEDcommon\nMAV_CMD_USER_2UNSUPPORTEDcommon\nMAV_CMD_USER_3UNSUPPORTEDcommon\nMAV_CMD_USER_4UNSUPPORTEDcommon\nMAV_CMD_USER_5UNSUPPORTEDcommon\nMAV_CMD_VIDEO_START_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_VIDEO_START_STREAMINGUNSUPPORTEDcommon\nMAV_CMD_VIDEO_STOP_CAPTUREUNSUPPORTEDcommon\nMAV_CMD_VIDEO_STOP_STREAMINGUNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_1UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_2UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_3UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_4UNSUPPORTEDcommon\nMAV_CMD_WAYPOINT_USER_5UNSUPPORTEDcommon\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/","path":"/software/autopilot/ArduSub-4.1/developers/mavlink-messages/","title":"MAVLink Support"},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/":{"body":"This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. Some parameters may only be available for developers, and are enabled at compile-time.\nArduSub Parameters\nSURFACE_DEPTH: Depth reading at surface\nThe depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)\n\n\nUnits: cm\n\n\nRange: -100 0\n\n\nFORMAT_VERSION: Eeprom format version number\nNote: This parameter is for advanced users\nThis value is incremented when changes are made to the eeprom format\n\nReadOnly: True\n\nSYSID_THISMAV: MAVLink system ID of this vehicle\nNote: This parameter is for advanced users\nAllows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network\n\nRange: 1 255\n\nSYSID_MYGCS: My ground station number\nNote: This parameter is for advanced users\nAllows restricting radio overrides to only come from my ground station\nPILOT_THR_FILT: Throttle filter cutoff\nNote: This parameter is for advanced users\nThrottle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable\n\n\nUnits: Hz\n\n\nRange: 0 10\n\n\nIncrement: .5\n\n\nGCS_PID_MASK: GCS PID tuning mask\nNote: This parameter is for advanced users\nbitmask of PIDs to send MAVLink PID_TUNING messages for\nValueMeaning\n0None\n1Roll\n2Pitch\n4Yaw\n\n\nBitmask: 0:Roll,1:Pitch,2:Yaw\n\nRNGFND_GAIN: Rangefinder gain\nUsed to adjust the speed with which the target altitude is changed when objects are sensed below the sub\n\n\nRange: 0.01 2.0\n\n\nIncrement: 0.01\n\n\nFS_GCS_ENABLE: Ground Station Failsafe Enable\nControls what action to take when GCS heartbeat is lost.\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n3Enter depth hold mode\n4Enter surface mode\n\nFS_LEAK_ENABLE: Leak Failsafe Enable\nControls what action to take if a leak is detected.\nValueMeaning\n0Disabled\n1Warn only\n2Enter surface mode\n\nFS_PRESS_ENABLE: Internal Pressure Failsafe Enable\nControls what action to take if internal pressure exceeds FS_PRESS_MAX parameter.\nValueMeaning\n0Disabled\n1Warn only\n\nFS_TEMP_ENABLE: Internal Temperature Failsafe Enable\nControls what action to take if internal temperature exceeds FS_TEMP_MAX parameter.\nValueMeaning\n0Disabled\n1Warn only\n\nFS_PRESS_MAX: Internal Pressure Failsafe Threshold\nThe maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter\n\nUnits: Pa\n\nFS_TEMP_MAX: Internal Temperature Failsafe Threshold\nThe maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter.\n\nUnits: degC\n\nFS_TERRAIN_ENAB: Terrain Failsafe Enable\nControls what action to take if terrain information is lost during AUTO mode\nValueMeaning\n0Disarm\n1Hold Position\n2Surface\n\nFS_PILOT_INPUT: Pilot input failsafe action\nControls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter\nValueMeaning\n0Disabled\n1Warn Only\n2Disarm\n\nFS_PILOT_TIMEOUT: Timeout for activation of pilot input failsafe\nControls the maximum interval between received pilot inputs before the failsafe action is triggered\n\n\nUnits: s\n\n\nRange: 0.1 3.0\n\n\nXTRACK_ANG_LIM: Crosstrack correction angle limit\nMaximum allowed angle (in degrees) between current track and desired heading during waypoint navigation\n\nRange: 10 90\n\nWP_YAW_BEHAVIOR: Yaw behaviour during missions\nDetermines how the autopilot controls the yaw during missions and RTL\nValueMeaning\n0Never change yaw\n1Face next waypoint\n2Face next waypoint except RTL\n3Face along GPS course\n4Correct crosstrack error\n\nPILOT_SPEED_UP: Pilot maximum vertical ascending speed\nThe maximum vertical ascending velocity the pilot may request in cm/s\n\n\nUnits: cm/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nPILOT_SPEED_DN: Pilot maximum vertical descending speed\nThe maximum vertical descending velocity the pilot may request in cm/s\n\n\nUnits: cm/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nPILOT_ACCEL_Z: Pilot vertical acceleration\nThe vertical acceleration used when pilot is controlling the altitude\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nTHR_DZ: Throttle deadzone\nThe PWM deadzone in microseconds above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes\n\n\nRange: 0 300\n\n\nUnits: PWM\n\n\nIncrement: 1\n\n\nLOG_BITMASK: Log bitmask\n4 byte bitmap of log types to enable\nValueMeaning\n830Default\n894Default+RCIN\n958Default+IMU\n1854Default+Motors\n-6146NearlyAll-AC315\n45054NearlyAll\n131071All+FastATT\n262142All+MotBatt\n393214All+FastIMU\n397310All+FastIMU+PID\n655358All+FullIMU\n0Disabled\n\n\nBitmask: 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\n\nANGLE_MAX: Angle Max\nNote: This parameter is for advanced users\nMaximum lean angle in all flight modes\n\n\nUnits: cdeg\n\n\nIncrement: 10\n\n\nRange: 1000 8000\n\n\nFS_EKF_ACTION: EKF Failsafe Action\nNote: This parameter is for advanced users\nControls the action that will be taken when an EKF failsafe is invoked\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n\nFS_EKF_THRESH: EKF failsafe variance threshold\nNote: This parameter is for advanced users\nAllows setting the maximum acceptable compass and velocity variance\n\nValues: 0.6:Strict,0.8:Default,1.0:Relaxed\n\nFS_CRASH_CHECK: Crash check enable\nNote: This parameter is for advanced users\nThis enables automatic crash checking. When enabled the motors will disarm if a crash is detected.\nValueMeaning\n0Disabled\n1Warn only\n2Disarm\n\nJS_GAIN_DEFAULT: Default gain at boot\nDefault gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]\n\nRange: 0.1 1.0\n\nJS_GAIN_MAX: Maximum joystick gain\nMaximum joystick gain\n\nRange: 0.2 1.0\n\nJS_GAIN_MIN: Minimum joystick gain\nMinimum joystick gain\n\nRange: 0.1 0.8\n\nJS_GAIN_STEPS: Gain steps\nControls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT.\n\nRange: 1 10\n\nJS_LIGHTS_STEPS: Lights brightness steps\nNumber of steps in brightness between minimum and maximum brightness\n\n\nRange: 1 10\n\n\nUnits: PWM\n\n\nJS_THR_GAIN: Throttle gain scalar\nScalar for gain on the throttle channel\n\nRange: 0.5 4.0\n\nFRAME_CONFIG: Frame configuration\nSet this parameter according to your vehicle/motor configuration\n\nRebootRequired: True\n\nValueMeaning\n0BlueROV1\n1Vectored\n2Vectored_6DOF\n3Vectored_6DOF_90\n4SimpleROV-3\n5SimpleROV-4\n6SimpleROV-5\n7Custom\n\nRC_SPEED: ESC Update Speed\nNote: This parameter is for advanced users\nThis is the speed in Hertz that your ESCs will receive updates\n\n\nUnits: Hz\n\n\nRange: 50 490\n\n\nIncrement: 1\n\n\nACRO_RP_P: Acro Roll and Pitch P gain\nConverts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.\n\nRange: 1 10\n\nACRO_YAW_P: Acro Yaw P gain\nConverts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.\n\nRange: 1 10\n\nACRO_BAL_ROLL: Acro Balance Roll\nNote: This parameter is for advanced users\nrate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.\n\n\nRange: 0 3\n\n\nIncrement: 0.1\n\n\nACRO_BAL_PITCH: Acro Balance Pitch\nNote: This parameter is for advanced users\nrate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.\n\n\nRange: 0 3\n\n\nIncrement: 0.1\n\n\nACRO_TRAINER: Acro Trainer\nNote: This parameter is for advanced users\nType of trainer used in acro mode\nValueMeaning\n0Disabled\n1Leveling\n2Leveling and Limited\n\nACRO_EXPO: Acro Expo\nNote: This parameter is for advanced users\nAcro roll/pitch Expo to allow faster rotation when stick at edges\nValueMeaning\n0Disabled\n0.1Very Low\n0.2Low\n0.3Medium\n0.4High\n0.5Very High\n\nAHRS Parameters\nAHRS_GPS_GAIN: AHRS GPS gain\nNote: This parameter is for advanced users\nThis controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.\n\n\nRange: 0.0 1.0\n\n\nIncrement: .01\n\n\nAHRS_GPS_USE: AHRS use GPS for navigation\nNote: This parameter is for advanced users\nThis controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available.\nValueMeaning\n0Disabled\n1Enabled\n\nAHRS_YAW_P: Yaw P\nNote: This parameter is for advanced users\nThis controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.\n\n\nRange: 0.1 0.4\n\n\nIncrement: .01\n\n\nAHRS_RP_P: AHRS RP_P\nNote: This parameter is for advanced users\nThis controls how fast the accelerometers correct the attitude\n\n\nRange: 0.1 0.4\n\n\nIncrement: .01\n\n\nAHRS_WIND_MAX: Maximum wind\nNote: This parameter is for advanced users\nThis sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.\n\n\nRange: 0 127\n\n\nUnits: m/s\n\n\nIncrement: 1\n\n\nAHRS_TRIM_X: AHRS Trim Roll\nCompensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_TRIM_Y: AHRS Trim Pitch\nCompensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_TRIM_Z: AHRS Trim Yaw\nNote: This parameter is for advanced users\nNot Used\n\n\nUnits: rad\n\n\nRange: -0.1745 +0.1745\n\n\nIncrement: 0.01\n\n\nAHRS_ORIENTATION: Board Orientation\nNote: This parameter is for advanced users\nOverall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nAHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient\nNote: This parameter is for advanced users\nThis controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.\n\n\nRange: 0.001 0.5\n\n\nIncrement: .01\n\n\nAHRS_GPS_MINSATS: AHRS GPS Minimum satellites\nNote: This parameter is for advanced users\nMinimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nAHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation\nNote: This parameter is for advanced users\nThis controls which NavEKF Kalman filter version is used for attitude and position estimation\nValueMeaning\n0Disabled\n2Enable EKF2\n3Enable EKF3\n11ExternalAHRS\n\nAHRS_CUSTOM_ROLL: Board orientation roll offset\nNote: This parameter is for advanced users\nAutopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nAHRS_CUSTOM_PIT: Board orientation pitch offset\nNote: This parameter is for advanced users\nAutopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nAHRS_CUSTOM_YAW: Board orientation yaw offset\nNote: This parameter is for advanced users\nAutopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nARMING Parameters\nARMING_ACCTHRESH: Accelerometer error threshold\nNote: This parameter is for advanced users\nAccelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.\n\n\nUnits: m/s/s\n\n\nRange: 0.25 3.0\n\n\nARMING_RUDDER: Arming with Rudder enable/disable\nNote: This parameter is for advanced users\nAllow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)\nValueMeaning\n0Disabled\n1ArmingOnly\n2ArmOrDisarm\n\nARMING_MIS_ITEMS: Required mission items\nNote: This parameter is for advanced users\nBitmask of mission items that are required to be planned in order to arm the aircraft\n\nBitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint\n\nARMING_CHECK: Arm Checks to Perform (bitmask)\nChecks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.\n\nBitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT\n\nARSPD Parameters\nARSPD_TYPE: Airspeed type\nType of airspeed sensor\nValueMeaning\n0None\n1I2C-MS4525D0\n2Analog\n3I2C-MS5525\n4I2C-MS5525 (0x76)\n5I2C-MS5525 (0x77)\n6I2C-SDP3X\n7I2C-DLVR-5in\n8UAVCAN\n9I2C-DLVR-10in\n10I2C-DLVR-20in\n11I2C-DLVR-30in\n12I2C-DLVR-60in\n13NMEA water speed\n14MSP\n15ASP5033\n\nARSPD_USE: Airspeed use\nEnables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).\nValueMeaning\n0DoNotUse\n1Use\n2UseWhenZeroThrottle\n\nARSPD_OFFSET: Airspeed offset\nNote: This parameter is for advanced users\nAirspeed calibration offset\n\nIncrement: 0.1\n\nARSPD_RATIO: Airspeed ratio\nNote: This parameter is for advanced users\nCalibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.\n\nIncrement: 0.1\n\nARSPD_PIN: Airspeed pin\nNote: This parameter is for advanced users\nThe pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. \nARSPD_AUTOCAL: Automatic airspeed ratio calibration\nNote: This parameter is for advanced users\nEnables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.\nARSPD_TUBE_ORDER: Control pitot tube order\nNote: This parameter is for advanced users\nChanges the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed.\nARSPD_SKIP_CAL: Skip airspeed calibration on startup\nNote: This parameter is for advanced users\nThis parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.\nValueMeaning\n0Disable\n1Enable\n\nARSPD_PSI_RANGE: The PSI range of the device\nNote: This parameter is for advanced users\nThis parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device\nARSPD_BUS: Airspeed I2C bus\nNote: This parameter is for advanced users\nBus number of the I2C bus where the airspeed sensor is connected\nValueMeaning\n0Bus0(internal)\n1Bus1(external)\n2Bus2(auxillary)\n\nARSPD_PRIMARY: Primary airspeed sensor\nNote: This parameter is for advanced users\nThis selects which airspeed sensor will be the primary if multiple sensors are found\nValueMeaning\n0FirstSensor\n12ndSensor\n\nARSPD_OPTIONS: Airspeed options bitmask\nNote: This parameter is for advanced users\nBitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set\n\nBitmask: 0:Disable sensor, 1:Re-enable sensor\n\nARSPD_WIND_MAX: Maximum airspeed and ground speed difference\nNote: This parameter is for advanced users\nIf the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.\n\nUnits: m/s\n\nARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning\nNote: This parameter is for advanced users\nIf the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.\n\nUnits: m/s\n\nARSPD2_TYPE: Second Airspeed type\nType of 2nd airspeed sensor\nValueMeaning\n0None\n1I2C-MS4525D0\n2Analog\n3I2C-MS5525\n4I2C-MS5525 (0x76)\n5I2C-MS5525 (0x77)\n6I2C-SDP3X\n7I2C-DLVR-5in\n8UAVCAN\n9I2C-DLVR-10in\n10I2C-DLVR-20in\n11I2C-DLVR-30in\n12I2C-DLVR-60in\n13NMEA water speed\n14MSP\n15ASP5033\n\nARSPD2_USE: Enable use of 2nd airspeed sensor\nuse airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller\nValueMeaning\n0Don't Use\n1use\n2UseWhenZeroThrottle\n\nARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor\nNote: This parameter is for advanced users\nAirspeed calibration offset\n\nIncrement: 0.1\n\nARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor\nNote: This parameter is for advanced users\nAirspeed calibration ratio\n\nIncrement: 0.1\n\nARSPD2_PIN: Airspeed pin for 2nd airspeed sensor\nNote: This parameter is for advanced users\nPin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. \nARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor\nNote: This parameter is for advanced users\nIf this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.\nARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor\nNote: This parameter is for advanced users\nThis parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.\nARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor\nNote: This parameter is for advanced users\nThis parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.\nValueMeaning\n0Disable\n1Enable\n\nARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor\nNote: This parameter is for advanced users\nThis parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device\nARSPD2_BUS: Airspeed I2C bus for 2nd sensor\nNote: This parameter is for advanced users\nThe bus number of the I2C bus to look for the sensor on\nValueMeaning\n0Bus0(internal)\n1Bus1(external)\n2Bus2(auxillary)\n\nATC Parameters\nATC_SLEW_YAW: Yaw target slew rate\nNote: This parameter is for advanced users\nMaximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes\n\n\nUnits: cdeg/s\n\n\nRange: 500 18000\n\n\nIncrement: 100\n\n\nATC_ACCEL_Y_MAX: Acceleration Max for Yaw\nNote: This parameter is for advanced users\nMaximum acceleration in yaw axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 72000\n\n\nValueMeaning\n0Disabled\n9000VerySlow\n18000Slow\n36000Medium\n54000Fast\n\n\nIncrement: 1000\n\nATC_RATE_FF_ENAB: Rate Feedforward Enable\nNote: This parameter is for advanced users\nControls whether body-frame rate feedfoward is enabled or disabled\nValueMeaning\n0Disabled\n1Enabled\n\nATC_ACCEL_R_MAX: Acceleration Max for Roll\nNote: This parameter is for advanced users\nMaximum acceleration in roll axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 180000\n\n\nIncrement: 1000\n\n\nValueMeaning\n0Disabled\n30000VerySlow\n72000Slow\n108000Medium\n162000Fast\n\nATC_ACCEL_P_MAX: Acceleration Max for Pitch\nNote: This parameter is for advanced users\nMaximum acceleration in pitch axis\n\n\nUnits: cdeg/s/s\n\n\nRange: 0 180000\n\n\nIncrement: 1000\n\n\nValueMeaning\n0Disabled\n30000VerySlow\n72000Slow\n108000Medium\n162000Fast\n\nATC_ANGLE_BOOST: Angle Boost\nNote: This parameter is for advanced users\nAngle Boost increases output throttle as the vehicle leans to reduce loss of altitude\nValueMeaning\n0Disabled\n1Enabled\n\nATC_ANG_RLL_P: Roll axis angle controller P gain\nRoll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate\n\nRange: 0.0 12.000\n\nATC_ANG_PIT_P: Pitch axis angle controller P gain\nPitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate\n\nRange: 0.0 12.000\n\nATC_ANG_YAW_P: Yaw axis angle controller P gain\nYaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate\n\nRange: 0.0 6.000\n\nATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant\nNote: This parameter is for advanced users\nAngle Limit (to maintain altitude) Time Constant\n\nRange: 0.5 10.0\n\nATC_RATE_R_MAX: Angular Velocity Max for Roll\nNote: This parameter is for advanced users\nMaximum angular velocity in roll axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_RATE_P_MAX: Angular Velocity Max for Pitch\nNote: This parameter is for advanced users\nMaximum angular velocity in pitch axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_RATE_Y_MAX: Angular Velocity Max for Yaw\nNote: This parameter is for advanced users\nMaximum angular velocity in yaw axis\n\n\nUnits: deg/s\n\n\nRange: 0 1080\n\n\nIncrement: 1\n\n\nValueMeaning\n0Disabled\n360Slow\n720Medium\n1080Fast\n\nATC_INPUT_TC: Attitude control input time constant\nAttitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response\n\n\nUnits: s\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nValues: 0.5:Very Soft,0.2:Soft,0.15:Medium,0.1:Crisp,0.05:Very Crisp\n\n\nATC_RAT_RLL_P: Roll axis rate controller P gain\nRoll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output\n\n\nRange: 0.0 0.30\n\n\nIncrement: 0.005\n\n\nATC_RAT_RLL_I: Roll axis rate controller I gain\nRoll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate\n\n\nRange: 0.0 0.5\n\n\nIncrement: 0.01\n\n\nATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum\nRoll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_RLL_D: Roll axis rate controller D gain\nRoll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate\n\n\nRange: 0.0 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_RLL_FF: Roll axis rate controller feed forward\nRoll axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_RLL_FLTT: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_FLTE: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_FLTD: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_RLL_SMAX: Roll slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_RAT_PIT_P: Pitch axis rate controller P gain\nPitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output\n\n\nRange: 0.0 0.30\n\n\nIncrement: 0.005\n\n\nATC_RAT_PIT_I: Pitch axis rate controller I gain\nPitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate\n\n\nRange: 0.0 0.5\n\n\nIncrement: 0.01\n\n\nATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum\nPitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_PIT_D: Pitch axis rate controller D gain\nPitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate\n\n\nRange: 0.0 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_PIT_FF: Pitch axis rate controller feed forward\nPitch axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_PIT_FLTT: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FLTE: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FLTD: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_SMAX: Pitch slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_RAT_YAW_P: Yaw axis rate controller P gain\nYaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output\n\n\nRange: 0.0 0.50\n\n\nIncrement: 0.005\n\n\nATC_RAT_YAW_I: Yaw axis rate controller I gain\nYaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate\n\n\nRange: 0.0 0.05\n\n\nIncrement: 0.01\n\n\nATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum\nYaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nATC_RAT_YAW_D: Yaw axis rate controller D gain\nYaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate\n\n\nRange: 0.000 0.02\n\n\nIncrement: 0.001\n\n\nATC_RAT_YAW_FF: Yaw axis rate controller feed forward\nYaw axis rate controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nATC_RAT_YAW_FLTT: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FLTE: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FLTD: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_SMAX: Yaw slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nATC_THR_MIX_MIN: Throttle Mix Minimum\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.1 0.25\n\nATC_THR_MIX_MAX: Throttle Mix Maximum\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.5 0.9\n\nATC_THR_MIX_MAN: Throttle Mix Manual\nNote: This parameter is for advanced users\nThrottle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)\n\nRange: 0.5 0.9\n\nATC_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz\nRoll axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz\nPitch axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nATC_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz\nYaw axis rate controller input frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nAVOID Parameters\nAVOID_ENABLE: Avoidance control enable/disable\nEnabled/disable avoidance input sources\n\nBitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence\n\nAVOID_MARGIN: Avoidance distance margin in GPS modes\nVehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes\n\n\nUnits: m\n\n\nRange: 1 10\n\n\nAVOID_BACKUP_SPD: Avoidance maximum backup speed\nMaximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable\n\n\nUnits: m/s\n\n\nRange: 0 2\n\n\nAVOID_ACCEL_MAX: Avoidance maximum acceleration\nMaximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits\n\n\nUnits: m/s/s\n\n\nRange: 0 9\n\n\nAVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle\nDistance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.\n\n\nUnits: m\n\n\nRange: 0 2\n\n\nBARO Parameters\nBARO1_GND_PRESS: Ground Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO_GND_TEMP: ground temperature\nNote: This parameter is for advanced users\nUser provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.\n\n\nUnits: degC\n\n\nIncrement: 1\n\n\nVolatile: True\n\n\nBARO_ALT_OFFSET: altitude offset\nNote: This parameter is for advanced users\naltitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.\n\n\nUnits: m\n\n\nIncrement: 0.1\n\n\nBARO_PRIMARY: Primary barometer\nNote: This parameter is for advanced users\nThis selects which barometer will be the primary if multiple barometers are found\nValueMeaning\n0FirstBaro\n12ndBaro\n23rdBaro\n\nBARO_EXT_BUS: External baro bus\nNote: This parameter is for advanced users\nThis selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.\nValueMeaning\n-1Disabled\n0Bus0\n1Bus1\n6Bus6\n\nBARO_SPEC_GRAV: Specific Gravity (For water depth measurement)\nThis sets the specific gravity of the fluid when flying an underwater ROV.\n\nValues: 1.0:Freshwater,1.024:Saltwater\n\nBARO2_GND_PRESS: Ground Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO3_GND_PRESS: Absolute Pressure\nNote: This parameter is for advanced users\ncalibrated ground pressure in Pascals\n\n\nUnits: Pa\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nVolatile: True\n\n\nBARO_FLTR_RNG: Range in which sample is accepted\nThis sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.\n\n\nUnits: %\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nBARO_PROBE_EXT: External barometers to probe\nNote: This parameter is for advanced users\nThis sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.\n\nBitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP\n\nBARO1_DEVID: Baro ID\nNote: This parameter is for advanced users\nBarometer sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBARO2_DEVID: Baro ID2\nNote: This parameter is for advanced users\nBarometer2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBARO3_DEVID: Baro ID3\nNote: This parameter is for advanced users\nBarometer3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nBAROnWCF Parameters\nBAROn_WCF_ENABLE: Wind coefficient enable\nNote: This parameter is for advanced users\nThis enables the use of wind coefficients for barometer compensation\nValueMeaning\n0Disabled\n1Enabled\n\nBAROn_WCF_FWD: Pressure error coefficient in positive X direction (forward)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_BCK: Pressure error coefficient in negative X direction (backwards)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_RGT: Pressure error coefficient in positive Y direction (right)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBAROn_WCF_LFT: Pressure error coefficient in negative Y direction (left)\nNote: This parameter is for advanced users\nThis is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.\n\n\nRange: -1.0 1.0\n\n\nIncrement: 0.05\n\n\nBATTn Parameters\nBATTn_MONITOR: Battery monitoring\nControls enabling monitoring of the battery's voltage and current\nValueMeaning\n0Disabled\n3Analog Voltage Only\n4Analog Voltage and Current\n5Solo\n6Bebop\n7SMBus-Generic\n8UAVCAN-BatteryInfo\n9ESC\n10SumOfFollowing\n11FuelFlow\n12FuelLevelPWM\n13SMBUS-SUI3\n14SMBUS-SUI6\n15NeoDesign\n16SMBus-Maxell\n17Generator-Elec\n18Generator-Fuel\n19Rotoye\n\n\nRebootRequired: True\n\nBATTn_VOLT_PIN: Battery Voltage sensing pin\nSets the analog input pin that should be used for voltage monitoring.\nValueMeaning\n-1Disabled\n2Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n5Navigator\n13Pixhawk2_PM2/CubeOrange_PM2\n14CubeOrange\n16Durandal\n100PX4-v1\n\n\nRebootRequired: True\n\nBATTn_CURR_PIN: Battery Current sensing pin\nSets the analog input pin that should be used for current monitoring.\nValueMeaning\n-1Disabled\n3Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n4CubeOrange_PM2/Navigator\n14Pixhawk2_PM2\n15CubeOrange\n17Durandal\n101PX4-v1\n\n\nRebootRequired: True\n\nBATTn_VOLT_MULT: Voltage Multiplier\nNote: This parameter is for advanced users\nUsed to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.\nBATTn_AMP_PERVLT: Amps per volt\nNumber of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.\n\nUnits: A/V\n\nBATTn_AMP_OFFSET: AMP offset\nVoltage offset at zero current on current sensor\n\nUnits: V\n\nBATTn_CAPACITY: Battery capacity\nCapacity of the battery in mAh when full\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_SERIAL_NUM: Battery serial number\nNote: This parameter is for advanced users\nBattery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.\nBATTn_LOW_TIMER: Low voltage timeout\nNote: This parameter is for advanced users\nThis is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.\n\n\nUnits: s\n\n\nIncrement: 1\n\n\nRange: 0 120\n\n\nBATTn_FS_VOLTSRC: Failsafe voltage source\nNote: This parameter is for advanced users\nVoltage type used for detection of low voltage event\nValueMeaning\n0Raw Voltage\n1Sag Compensated Voltage\n\nBATTn_LOW_VOLT: Low battery voltage\nBattery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_LOW_MAH: Low battery capacity\nBattery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_CRT_VOLT: Critical battery voltage\nBattery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_CRT_MAH: Battery critical capacity\nBattery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_FS_LOW_ACT: Low battery failsafe action\nWhat action the vehicle should perform if it hits a low battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATTn_FS_CRT_ACT: Critical battery failsafe action\nWhat action the vehicle should perform if it hits a critical battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATTn_ARM_VOLT: Required arming voltage\nNote: This parameter is for advanced users\nBattery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATTn_ARM_MAH: Required arming remaining capacity\nNote: This parameter is for advanced users\nBattery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATTn_BUS: Battery monitor I2C bus number\nBattery monitor I2C bus number\n\nRange: 0 3\n\nBATTn_OPTIONS: Battery monitor options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the battery monitor\n\nBitmask: 0:Ignore UAVCAN SoC\n\nBATT Parameters\nBATT_MONITOR: Battery monitoring\nControls enabling monitoring of the battery's voltage and current\nValueMeaning\n0Disabled\n3Analog Voltage Only\n4Analog Voltage and Current\n5Solo\n6Bebop\n7SMBus-Generic\n8UAVCAN-BatteryInfo\n9ESC\n10SumOfFollowing\n11FuelFlow\n12FuelLevelPWM\n13SMBUS-SUI3\n14SMBUS-SUI6\n15NeoDesign\n16SMBus-Maxell\n17Generator-Elec\n18Generator-Fuel\n19Rotoye\n\n\nRebootRequired: True\n\nBATT_VOLT_PIN: Battery Voltage sensing pin\nSets the analog input pin that should be used for voltage monitoring.\nValueMeaning\n-1Disabled\n2Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n5Navigator\n13Pixhawk2_PM2/CubeOrange_PM2\n14CubeOrange\n16Durandal\n100PX4-v1\n\n\nRebootRequired: True\n\nBATT_CURR_PIN: Battery Current sensing pin\nSets the analog input pin that should be used for current monitoring.\nValueMeaning\n-1Disabled\n3Pixhawk/Pixracer/Navio2/Pixhawk2_PM1\n4CubeOrange_PM2/Navigator\n14Pixhawk2_PM2\n15CubeOrange\n17Durandal\n101PX4-v1\n\n\nRebootRequired: True\n\nBATT_VOLT_MULT: Voltage Multiplier\nNote: This parameter is for advanced users\nUsed to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.\nBATT_AMP_PERVLT: Amps per volt\nNumber of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.\n\nUnits: A/V\n\nBATT_AMP_OFFSET: AMP offset\nVoltage offset at zero current on current sensor\n\nUnits: V\n\nBATT_CAPACITY: Battery capacity\nCapacity of the battery in mAh when full\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_SERIAL_NUM: Battery serial number\nNote: This parameter is for advanced users\nBattery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.\nBATT_LOW_TIMER: Low voltage timeout\nNote: This parameter is for advanced users\nThis is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.\n\n\nUnits: s\n\n\nIncrement: 1\n\n\nRange: 0 120\n\n\nBATT_FS_VOLTSRC: Failsafe voltage source\nNote: This parameter is for advanced users\nVoltage type used for detection of low voltage event\nValueMeaning\n0Raw Voltage\n1Sag Compensated Voltage\n\nBATT_LOW_VOLT: Low battery voltage\nBattery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_LOW_MAH: Low battery capacity\nBattery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_CRT_VOLT: Critical battery voltage\nBattery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_CRT_MAH: Battery critical capacity\nBattery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_FS_LOW_ACT: Low battery failsafe action\nWhat action the vehicle should perform if it hits a low battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATT_FS_CRT_ACT: Critical battery failsafe action\nWhat action the vehicle should perform if it hits a critical battery failsafe\nValueMeaning\n0None\n2Disarm\n3Enter surface mode\n\nBATT_ARM_VOLT: Required arming voltage\nNote: This parameter is for advanced users\nBattery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.\n\n\nUnits: V\n\n\nIncrement: 0.1\n\n\nBATT_ARM_MAH: Required arming remaining capacity\nNote: This parameter is for advanced users\nBattery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.\n\n\nUnits: mAh\n\n\nIncrement: 50\n\n\nBATT_BUS: Battery monitor I2C bus number\nBattery monitor I2C bus number\n\nRange: 0 3\n\nBATT_OPTIONS: Battery monitor options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the battery monitor\n\nBitmask: 0:Ignore UAVCAN SoC\n\nBRD Parameters\nBRD_PWM_COUNT: Auxiliary pin config\nNote: This parameter is for advanced users\nControls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO\nValueMeaning\n0No PWMs\n1One PWMs\n2Two PWMs\n3Three PWMs\n4Four PWMs\n5Five PWMs\n6Six PWMs\n7Seven PWMs\n8Eight PWMs\n\n\nRebootRequired: True\n\nBRD_SER1_RTSCTS: Serial 1 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER2_RTSCTS: Serial 2 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER3_RTSCTS: Serial 3 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER4_RTSCTS: Serial 4 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SER5_RTSCTS: Serial 5 flow control\nNote: This parameter is for advanced users\nEnable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.\nValueMeaning\n0Disabled\n1Enabled\n2Auto\n\n\nRebootRequired: True\n\nBRD_SAFETYENABLE: Enable use of safety arming switch\nThis controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nBRD_SBUS_OUT: SBUS output rate\nNote: This parameter is for advanced users\nThis sets the SBUS output frame rate in Hz\nValueMeaning\n0Disabled\n150Hz\n275Hz\n3100Hz\n4150Hz\n5200Hz\n6250Hz\n7300Hz\n\n\nRebootRequired: True\n\nBRD_SERIAL_NUM: User-defined serial number\nUser-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot\n\nRange: -32768 32767\n\nBRD_SAFETY_MASK: Outputs which ignore the safety switch state\nNote: This parameter is for advanced users\nA bitmask which controls what outputs can move while the safety switch has not been pressed\n\n\nBitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14\n\n\nRebootRequired: True\n\n\nBRD_IMU_TARGTEMP: Target IMU temperature\nNote: This parameter is for advanced users\nThis sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.\n\n\nRange: -1 80\n\n\nUnits: degC\n\n\nBRD_TYPE: Board type\nNote: This parameter is for advanced users\nThis allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)\nValueMeaning\n0AUTO\n1PX4V1\n2Pixhawk\n3Cube/Pixhawk2\n4Pixracer\n5PixhawkMini\n6Pixhawk2Slim\n13Intel Aero FC\n14Pixhawk Pro\n20AUAV2.1\n21PCNC1\n22MINDPXV2\n23SP01\n24CUAVv5/FMUV5\n30VRX BRAIN51\n32VRX BRAIN52\n33VRX BRAIN52E\n34VRX UBRAIN51\n35VRX UBRAIN52\n36VRX CORE10\n38VRX BRAIN54\n39PX4 FMUV6\n100PX4 OLDDRIVERS\n\n\nRebootRequired: True\n\nBRD_IO_ENABLE: Enable IO co-processor\nNote: This parameter is for advanced users\nThis allows for the IO co-processor on FMUv1 and FMUv2 to be disabled\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nBRD_SAFETYOPTION: Options for safety button behavior\nThis controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed\n\nBitmask: 0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms\n\nBRD_VBUS_MIN: Autopilot board voltage requirement\nNote: This parameter is for advanced users\nMinimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.\n\n\nUnits: V\n\n\nRange: 4.0 5.5\n\n\nIncrement: 0.1\n\n\nBRD_VSERVO_MIN: Servo voltage requirement\nNote: This parameter is for advanced users\nMinimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.\n\n\nUnits: V\n\n\nRange: 3.3 12.0\n\n\nIncrement: 0.1\n\n\nBRD_SD_SLOWDOWN: microSD slowdown\nNote: This parameter is for advanced users\nThis is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.\n\n\nRange: 0 32\n\n\nIncrement: 1\n\n\nBRD_PWM_VOLT_SEL: Set PWM Out Voltage\nNote: This parameter is for advanced users\nThis sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.\nValueMeaning\n03.3V\n15V\n\nBRD_OPTIONS: Board options\nNote: This parameter is for advanced users\nBoard specific option flags\n\nBitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins\n\nBRD_BOOT_DELAY: Boot delay\nNote: This parameter is for advanced users\nThis adds a delay in milliseconds to boot to ensure peripherals initialise fully\n\n\nRange: 0 10000\n\n\nUnits: ms\n\n\nBRD_IMUHEAT_P: IMU Heater P gain\nNote: This parameter is for advanced users\nIMU Heater P gain\n\n\nRange: 1 500\n\n\nIncrement: 1\n\n\nBRD_IMUHEAT_I: IMU Heater I gain\nNote: This parameter is for advanced users\nIMU Heater integrator gain\n\n\nRange: 0 1\n\n\nIncrement: 0.1\n\n\nBRD_IMUHEAT_IMAX: IMU Heater IMAX\nNote: This parameter is for advanced users\nIMU Heater integrator maximum\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nBRD_ALT_CONFIG: Alternative HW config\nNote: This parameter is for advanced users\nSelect an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nBRDRADIO Parameters\nBRD_RADIO_TYPE: Set type of direct attached radio\nThis enables support for direct attached radio receivers\nValueMeaning\n0None\n1CYRF6936\n2CC2500\n3BK2425\n\nBRD_RADIO_PROT: protocol\nNote: This parameter is for advanced users\nSelect air protocol\nValueMeaning\n0Auto\n1DSM2\n2DSMX\n\nBRD_RADIO_DEBUG: debug level\nNote: This parameter is for advanced users\nradio debug level\n\nRange: 0 4\n\nBRD_RADIO_DISCRC: disable receive CRC\nNote: This parameter is for advanced users\ndisable receive CRC (for debug)\nValueMeaning\n0NotDisabled\n1Disabled\n\nBRD_RADIO_SIGCH: RSSI signal strength\nNote: This parameter is for advanced users\nChannel to show receive RSSI signal strength, or zero for disabled\n\nRange: 0 16\n\nBRD_RADIO_PPSCH: Packet rate channel\nNote: This parameter is for advanced users\nChannel to show received packet-per-second rate, or zero for disabled\n\nRange: 0 16\n\nBRD_RADIO_TELEM: Enable telemetry\nNote: This parameter is for advanced users\nIf this is non-zero then telemetry packets will be sent over DSM\nValueMeaning\n0Disabled\n1Enabled\n\nBRD_RADIO_TXPOW: Telemetry Transmit power\nNote: This parameter is for advanced users\nSet telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX\n\nRange: 1 8\n\nBRD_RADIO_FCCTST: Put radio into FCC test mode\nNote: This parameter is for advanced users\nIf this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled\nValueMeaning\n0Disabled\n1MinChannel\n2MidChannel\n3MaxChannel\n4MinChannelCW\n5MidChannelCW\n6MaxChannelCW\n\nBRD_RADIO_STKMD: Stick input mode\nNote: This parameter is for advanced users\nThis selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.\nValueMeaning\n1Mode1\n2Mode2\n\nBRD_RADIO_TESTCH: Set radio to factory test channel\nNote: This parameter is for advanced users\nThis sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.\nValueMeaning\n0Disabled\n1TestChan1\n2TestChan2\n3TestChan3\n4TestChan4\n5TestChan5\n6TestChan6\n7TestChan7\n8TestChan8\n\nBRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter\nNote: This parameter is for advanced users\nChannel to show telemetry RSSI value as received by TX\n\nRange: 0 16\n\nBRD_RADIO_TPPSCH: Telemetry PPS channel\nNote: This parameter is for advanced users\nChannel to show telemetry packets-per-second value, as received at TX\n\nRange: 0 16\n\nBRD_RADIO_TXMAX: Transmitter transmit power\nNote: This parameter is for advanced users\nSet transmitter maximum transmit power (from 1 to 8)\n\nRange: 1 8\n\nBRD_RADIO_BZOFS: Transmitter buzzer adjustment\nNote: This parameter is for advanced users\nSet transmitter buzzer note adjustment (adjust frequency up)\n\nRange: 0 40\n\nBRD_RADIO_ABTIME: Auto-bind time\nNote: This parameter is for advanced users\nWhen non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.\n\nRange: 0 120\n\nBRD_RADIO_ABLVL: Auto-bind level\nNote: This parameter is for advanced users\nThis sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially\n\nRange: 0 31\n\nBRDRTC Parameters\nBRD_RTC_TYPES: Allowed sources of RTC time\nNote: This parameter is for advanced users\nSpecifies which sources of UTC time will be accepted\n\nBitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW\n\nBRD_RTC_TZ_MIN: Timezone offset from UTC\nNote: This parameter is for advanced users\nAdds offset in +- minutes from UTC to calculate local time\n\nRange: -720 +840\n\nBTNn Parameters\nBTNn_FUNCTION: Function for button\nSet to 0 to disable or choose a function\nValueMeaning\n0Disabled\n1shift\n2arm_toggle\n3arm\n4disarm\n5mode_manual\n6mode_stabilize\n7mode_depth_hold\n8mode_poshold\n9mode_auto\n10mode_circle\n11mode_guided\n12mode_acro\n21mount_center\n22mount_tilt_up\n23mount_tilt_down\n24camera_trigger\n25camera_source_toggle\n26mount_pan_right\n27mount_pan_left\n31lights1_cycle\n32lights1_brighter\n33lights1_dimmer\n34lights2_cycle\n35lights2_brighter\n36lights2_dimmer\n41gain_toggle\n42gain_inc\n43gain_dec\n44trim_roll_inc\n45trim_roll_dec\n46trim_pitch_inc\n47trim_pitch_dec\n48input_hold_set\n49roll_pitch_toggle\n51relay_1_on\n52relay_1_off\n53relay_1_toggle\n54relay_2_on\n55relay_2_off\n56relay_2_toggle\n57relay_3_on\n58relay_3_off\n59relay_3_toggle\n61servo_1_inc\n62servo_1_dec\n63servo_1_min\n64servo_1_max\n65servo_1_center\n66servo_2_inc\n67servo_2_dec\n68servo_2_min\n69servo_2_max\n70servo_2_center\n71servo_3_inc\n72servo_3_dec\n73servo_3_min\n74servo_3_max\n75servo_3_center\n76servo_1_min_momentary\n77servo_1_max_momentary\n78servo_1_min_toggle\n79servo_1_max_toggle\n80servo_2_min_momentary\n81servo_2_max_momentary\n82servo_2_min_toggle\n83servo_2_max_toggle\n84servo_3_min_momentary\n85servo_3_max_momentary\n86servo_3_min_toggle\n87servo_3_max_toggle\n91custom_1\n92custom_2\n93custom_3\n94custom_4\n95custom_5\n96custom_6\n101relay_4_on\n102relay_4_off\n103relay_4_toggle\n104relay_1_momentary\n105relay_2_momentary\n106relay_3_momentary\n107relay_4_momentary\n\nBTNn_SFUNCTION: Function for button when the shift mode is toggled on\nSet to 0 to disable or choose a function\nValueMeaning\n0Disabled\n1shift\n2arm_toggle\n3arm\n4disarm\n5mode_manual\n6mode_stabilize\n7mode_depth_hold\n8mode_poshold\n9mode_auto\n10mode_circle\n11mode_guided\n12mode_acro\n21mount_center\n22mount_tilt_up\n23mount_tilt_down\n24camera_trigger\n25camera_source_toggle\n26mount_pan_right\n27mount_pan_left\n31lights1_cycle\n32lights1_brighter\n33lights1_dimmer\n34lights2_cycle\n35lights2_brighter\n36lights2_dimmer\n41gain_toggle\n42gain_inc\n43gain_dec\n44trim_roll_inc\n45trim_roll_dec\n46trim_pitch_inc\n47trim_pitch_dec\n48input_hold_set\n49roll_pitch_toggle\n51relay_1_on\n52relay_1_off\n53relay_1_toggle\n54relay_2_on\n55relay_2_off\n56relay_2_toggle\n57relay_3_on\n58relay_3_off\n59relay_3_toggle\n61servo_1_inc\n62servo_1_dec\n63servo_1_min\n64servo_1_max\n65servo_1_center\n66servo_2_inc\n67servo_2_dec\n68servo_2_min\n69servo_2_max\n70servo_2_center\n71servo_3_inc\n72servo_3_dec\n73servo_3_min\n74servo_3_max\n75servo_3_center\n76servo_1_min_momentary\n77servo_1_max_momentary\n78servo_1_min_toggle\n79servo_1_max_toggle\n80servo_2_min_momentary\n81servo_2_max_momentary\n82servo_2_min_toggle\n83servo_2_max_toggle\n84servo_3_min_momentary\n85servo_3_max_momentary\n86servo_3_min_toggle\n87servo_3_max_toggle\n91custom_1\n92custom_2\n93custom_3\n94custom_4\n95custom_5\n96custom_6\n101relay_4_on\n102relay_4_off\n103relay_4_toggle\n104relay_1_momentary\n105relay_2_momentary\n106relay_3_momentary\n107relay_4_momentary\n\nCAM Parameters\nCAM_TRIGG_TYPE: Camera shutter (trigger) type\nhow to trigger the camera to take a picture\nValueMeaning\n0Servo\n1Relay\n2GoPro in Solo Gimbal\n\nCAM_DURATION: Duration that shutter is held open\nHow long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)\n\n\nUnits: ds\n\n\nRange: 0 50\n\n\nCAM_SERVO_ON: Servo ON PWM value\nPWM value in microseconds to move servo to when shutter is activated\n\n\nUnits: PWM\n\n\nRange: 1000 2000\n\n\nCAM_SERVO_OFF: Servo OFF PWM value\nPWM value in microseconds to move servo to when shutter is deactivated\n\n\nUnits: PWM\n\n\nRange: 1000 2000\n\n\nCAM_TRIGG_DIST: Camera trigger distance\nDistance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.\n\n\nUnits: m\n\n\nRange: 0 1000\n\n\nCAM_RELAY_ON: Relay ON value\nThis sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera\nValueMeaning\n0Low\n1High\n\nCAM_MIN_INTERVAL: Minimum time between photos\nPostpone shooting if previous picture was taken less than preset time(ms) ago.\n\n\nUnits: ms\n\n\nRange: 0 10000\n\n\nCAM_MAX_ROLL: Maximum photo roll angle.\nPostpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).\n\n\nUnits: deg\n\n\nRange: 0 180\n\n\nCAM_FEEDBACK_PIN: Camera feedback pin\npin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.\nValueMeaning\n-1Disabled\n50AUX1\n51AUX2\n52AUX3\n53AUX4\n54AUX5\n55AUX6\n\n\nRebootRequired: True\n\nCAM_FEEDBACK_POL: Camera feedback pin polarity\nPolarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low\nValueMeaning\n0TriggerLow\n1TriggerHigh\n\nCAM_AUTO_ONLY: Distance-trigging in AUTO mode only\nWhen enabled, trigging by distance is done in AUTO mode only.\nValueMeaning\n0Always\n1Only when in AUTO\n\nCAM_TYPE: Type of camera (0: None, 1: BMMCC)\nSet the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.\nValueMeaning\n0Default\n1BMMCC\n\nCAMRC Parameters\nCAM_RC_TYPE: RunCam device type\nRunCam deviee type used to determine OSD menu structure and shutter options.\nValueMeaning\n0Disabled\n1RunCam Split Micro/RunCam with UART\n2RunCam Split\n3RunCam Split4 4k\n4RunCam Hybrid\n\nCAM_RC_FEATURES: RunCam features available\nNote: This parameter is for advanced users\nThe available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.\n\nBitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording\n\nCAM_RC_BT_DELAY: RunCam boot delay before allowing updates\nNote: This parameter is for advanced users\nTime it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.\nCAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses\nNote: This parameter is for advanced users\nTime it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.\nCAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses\nNote: This parameter is for advanced users\nTime it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.\nCAM_RC_CONTROL: RunCam control option\nNote: This parameter is for advanced users\nSpecifies the allowed actions required to enter the OSD menu\n\nBitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled\n\nCAN Parameters\nCAN_LOGLEVEL: Loglevel\nNote: This parameter is for advanced users\nLoglevel for recording initialisation and debug information from CAN Interface\n\nRange: 0 4\n\nValueMeaning\n0Log None\n1Log Error\n2Log Warning and below\n3Log Info and below\n4Log Everything\n\nCANDn Parameters\nCAN_Dn_PROTOCOL: Enable use of specific protocol over virtual driver\nNote: This parameter is for advanced users\nEnabling this option starts selected protocol that will use this virtual driver\nValueMeaning\n0Disabled\n1UAVCAN\n3ToshibaCAN\n4PiccoloCAN\n5CANTester\n8KDECAN\n9PacketDigitalCAN\n\n\nRebootRequired: True\n\nCANDnKDE Parameters\nCAN_Dn_KDE_NPOLE: Number of motor poles\nSets the number of motor poles to calculate the correct RPM value\nCANDnPC Parameters\nCAN_Dn_PC_ESC_BM: ESC channels\nNote: This parameter is for advanced users\nBitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN\n\nBitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16\n\nCAN_Dn_PC_ESC_RT: ESC output rate\nNote: This parameter is for advanced users\nOutput rate of ESC command messages\n\n\nUnits: Hz\n\n\nRange: 1 500\n\n\nCAN_Dn_PC_SRV_BM: Servo channels\nNote: This parameter is for advanced users\nBitmask defining which servo channels are to be transmitted over Piccolo CAN\n\nBitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16\n\nCAN_Dn_PC_SRV_RT: Servo command output rate\nNote: This parameter is for advanced users\nOutput rate of servo command messages\n\n\nUnits: Hz\n\n\nRange: 1 500\n\n\nCANDnTST Parameters\nCAN_Dn_TST_ID: CAN Test Index\nNote: This parameter is for advanced users\nSelects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.\n\nRange: 0 4\n\nValueMeaning\n0TEST_NONE\n1TEST_LOOPBACK\n2TEST_BUSOFF_RECOVERY\n3TEST_UAVCAN_DNA\n4TEST_TOSHIBA_CAN\n5TEST_KDE_CAN\n6TEST_UAVCAN_ESC\n\nCAN_Dn_TST_LPR8: CANTester LoopRate\nNote: This parameter is for advanced users\nSelects the Looprate of Test methods\n\nUnits: us\n\nCANDnUC Parameters\nCAN_Dn_UC_NODE: UAVCAN node that is used for this network\nNote: This parameter is for advanced users\nUAVCAN node should be set implicitly\n\nRange: 1 250\n\nCAN_Dn_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN\nNote: This parameter is for advanced users\nBitmask with one set for channel to be transmitted as a servo command over UAVCAN\n\nBitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15\n\nCAN_Dn_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN\nNote: This parameter is for advanced users\nBitmask with one set for channel to be transmitted as a ESC command over UAVCAN\n\nBitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16\n\nCAN_Dn_UC_SRV_RT: Servo output rate\nNote: This parameter is for advanced users\nMaximum transmit rate for servo outputs\n\n\nRange: 1 200\n\n\nUnits: Hz\n\n\nCAN_Dn_UC_OPTION: UAVCAN options\nNote: This parameter is for advanced users\nOption flags\n\nBitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts\n\nCANPn Parameters\nCAN_Pn_DRIVER: Index of virtual driver to be used with physical CAN interface\nEnabling this option enables use of CAN buses.\nValueMeaning\n0Disabled\n1First driver\n2Second driver\n\n\nRebootRequired: True\n\nCAN_Pn_BITRATE: Bitrate of CAN interface\nNote: This parameter is for advanced users\nBit rate can be set up to from 10000 to 1000000\n\nRange: 10000 1000000\n\nCANSLCAN Parameters\nCAN_SLCAN_CPORT: SLCAN Route\nCAN Interface ID to be routed to SLCAN, 0 means no routing\nValueMeaning\n0Disabled\n1First interface\n2Second interface\n\n\nRebootRequired: True\n\nCAN_SLCAN_SERNUM: SLCAN Serial Port\nSerial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nCAN_SLCAN_TIMOUT: SLCAN Timeout\nDuration of inactivity after which SLCAN is switched back to original driver in seconds.\n\nRange: 0 127\n\nCAN_SLCAN_SDELAY: SLCAN Start Delay\nDuration after which slcan starts after setting SERNUM in seconds.\n\nRange: 0 127\n\nCIRCLE Parameters\nCIRCLE_RADIUS: Circle Radius\nDefines the radius of the circle the vehicle will fly when in Circle flight mode\n\n\nUnits: cm\n\n\nRange: 0 200000\n\n\nIncrement: 100\n\n\nCIRCLE_RATE: Circle rate\nCircle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise\n\n\nUnits: deg/s\n\n\nRange: -90 90\n\n\nIncrement: 1\n\n\nCIRCLE_OPTIONS: Circle options\n0:Enable or disable using the pitch/roll stick control circle mode's radius and rate\n\nBitmask: 0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter\n\nCOMPASS Parameters\nCOMPASS_OFS_X: Compass offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to the compass x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS_Y: Compass offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to the compass y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS_Z: Compass offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to the compass z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_DEC: Compass declination\nAn angle to compensate between the true north and magnetic north\n\n\nRange: -3.142 3.142\n\n\nUnits: rad\n\n\nIncrement: 0.01\n\n\nCOMPASS_LEARN: Learn compass offsets automatically\nNote: This parameter is for advanced users\nEnable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.\nValueMeaning\n0Disabled\n1Internal-Learning\n2EKF-Learning\n3InFlight-Learning\n\nCOMPASS_USE: Use compass for yaw\nNote: This parameter is for advanced users\nEnable or disable the use of the compass (instead of the GPS) for determining heading\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_AUTODEC: Auto Declination\nNote: This parameter is for advanced users\nEnable or disable the automatic calculation of the declination based on gps location\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_MOTCT: Motor interference compensation type\nNote: This parameter is for advanced users\nSet motor interference compensation type to disabled, throttle or current. Do not change manually.\nValueMeaning\n0Disabled\n1Use Throttle\n2Use Current\n\n\nCalibration: 1\n\nCOMPASS_MOT_X: Motor interference compensation for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT_Y: Motor interference compensation for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT_Z: Motor interference compensation for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_ORIENT: Compass orientation\nNote: This parameter is for advanced users\nThe orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERNAL: Compass is attached via an external cable\nNote: This parameter is for advanced users\nConfigure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to compass2's z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's x-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's y-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis\nNote: This parameter is for advanced users\nOffset to be added to compass3's z-axis values to compensate for metal in the frame\n\n\nRange: -400 400\n\n\nUnits: mGauss\n\n\nIncrement: 1\n\n\nCOMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCalibration: 1\n\n\nCOMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis\nNote: This parameter is for advanced users\nMultiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)\n\n\nRange: -1000 1000\n\n\nUnits: mGauss/A\n\n\nIncrement: 1\n\n\nCOMPASS_DEV_ID: Compass device id\nNote: This parameter is for advanced users\nCompass device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID2: Compass2 device id\nNote: This parameter is for advanced users\nSecond compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID3: Compass3 device id\nNote: This parameter is for advanced users\nThird compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_USE2: Compass2 used for yaw\nNote: This parameter is for advanced users\nEnable or disable the secondary compass for determining heading.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_ORIENT2: Compass2 orientation\nNote: This parameter is for advanced users\nThe orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERN2: Compass2 is attached via an external cable\nNote: This parameter is for advanced users\nConfigure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_USE3: Compass3 used for yaw\nNote: This parameter is for advanced users\nEnable or disable the tertiary compass for determining heading.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_ORIENT3: Compass3 orientation\nNote: This parameter is for advanced users\nThe orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.\nValueMeaning\n0None\n1Yaw45\n2Yaw90\n3Yaw135\n4Yaw180\n5Yaw225\n6Yaw270\n7Yaw315\n8Roll180\n9Roll180Yaw45\n10Roll180Yaw90\n11Roll180Yaw135\n12Pitch180\n13Roll180Yaw225\n14Roll180Yaw270\n15Roll180Yaw315\n16Roll90\n17Roll90Yaw45\n18Roll90Yaw90\n19Roll90Yaw135\n20Roll270\n21Roll270Yaw45\n22Roll270Yaw90\n23Roll270Yaw135\n24Pitch90\n25Pitch270\n26Pitch180Yaw90\n27Pitch180Yaw270\n28Roll90Pitch90\n29Roll180Pitch90\n30Roll270Pitch90\n31Roll90Pitch180\n32Roll270Pitch180\n33Roll90Pitch270\n34Roll180Pitch270\n35Roll270Pitch270\n36Roll90Pitch180Yaw90\n37Roll90Yaw270\n38Yaw293Pitch68Roll180\n39Pitch315\n40Roll90Pitch315\n100Custom\n\nCOMPASS_EXTERN3: Compass3 is attached via an external cable\nNote: This parameter is for advanced users\nConfigure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.\nValueMeaning\n0Internal\n1External\n2ForcedExternal\n\nCOMPASS_DIA_X: Compass soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA_Y: Compass soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA_Z: Compass soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI_X: Compass soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI_Y: Compass soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI_Z: Compass soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_DIA2_X: Compass2 soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_DIA3_X: Compass3 soft-iron diagonal X component\nNote: This parameter is for advanced users\nDIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component\nNote: This parameter is for advanced users\nDIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component\nNote: This parameter is for advanced users\nDIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component\nNote: This parameter is for advanced users\nODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component\nNote: This parameter is for advanced users\nODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\n\nCalibration: 1\n\nCOMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component\nNote: This parameter is for advanced users\nODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]\nCOMPASS_CAL_FIT: Compass calibration fitness\nNote: This parameter is for advanced users\nThis controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.\n\nRange: 4 32\n\nValueMeaning\n4Very Strict\n8Strict\n16Default\n32Relaxed\n\n\nIncrement: 0.1\n\nCOMPASS_OFFS_MAX: Compass maximum offset\nNote: This parameter is for advanced users\nThis sets the maximum allowed compass offset in calibration and arming checks\n\n\nRange: 500 3000\n\n\nIncrement: 1\n\n\nCOMPASS_TYPEMASK: Compass disable driver type mask\nNote: This parameter is for advanced users\nThis is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup\n\nBitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS\n\nCOMPASS_FLTR_RNG: Range in which sample is accepted\nThis sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.\n\n\nUnits: %\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nCOMPASS_AUTO_ROT: Automatically check orientation\nWhen enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.\nValueMeaning\n0Disabled\n1CheckOnly\n2CheckAndFix\n\nCOMPASS_PRIO1_ID: Compass device id with 1st order priority\nNote: This parameter is for advanced users\nCompass device id with 1st order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_PRIO2_ID: Compass device id with 2nd order priority\nNote: This parameter is for advanced users\nCompass device id with 2nd order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_PRIO3_ID: Compass device id with 3rd order priority\nNote: This parameter is for advanced users\nCompass device id with 3rd order priority, set automatically if 0. Reboot required after change.\n\nRebootRequired: True\n\nCOMPASS_ENABLE: Enable Compass\nSetting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_SCALE: Compass1 scale factor\nScaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_SCALE2: Compass2 scale factor\nScaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_SCALE3: Compass3 scale factor\nScaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done\n\nRange: 0 1.3\n\nCOMPASS_OPTIONS: Compass options\nNote: This parameter is for advanced users\nThis sets options to change the behaviour of the compass\n\nBitmask: 0:CalRequireGPS\n\nCOMPASS_DEV_ID4: Compass4 device id\nNote: This parameter is for advanced users\nExtra 4th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID5: Compass5 device id\nNote: This parameter is for advanced users\nExtra 5th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID6: Compass6 device id\nNote: This parameter is for advanced users\nExtra 6th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID7: Compass7 device id\nNote: This parameter is for advanced users\nExtra 7th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_DEV_ID8: Compass8 device id\nNote: This parameter is for advanced users\nExtra 8th compass's device id. Automatically detected, do not set manually\n\nReadOnly: True\n\nCOMPASS_CUS_ROLL: Custom orientation roll offset\nNote: This parameter is for advanced users\nCompass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASS_CUS_PIT: Custom orientation pitch offset\nNote: This parameter is for advanced users\nCompass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASS_CUS_YAW: Custom orientation yaw offset\nNote: This parameter is for advanced users\nCompass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.\n\n\nRange: -180 180\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nCOMPASSPMOT Parameters\nCOMPASS_PMOT_EN: per-motor compass correction enable\nNote: This parameter is for advanced users\nThis enables per-motor compass corrections\nValueMeaning\n0Disabled\n1Enabled\n\nCOMPASS_PMOT_EXP: per-motor exponential correction\nNote: This parameter is for advanced users\nThis is the exponential correction for the power output of the motor for per-motor compass correction\n\n\nRange: 0 2\n\n\nIncrement: 0.01\n\n\nCOMPASS_PMOT1_X: Compass per-motor1 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor1\nCOMPASS_PMOT1_Y: Compass per-motor1 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor1\nCOMPASS_PMOT1_Z: Compass per-motor1 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor1\nCOMPASS_PMOT2_X: Compass per-motor2 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor2\nCOMPASS_PMOT2_Y: Compass per-motor2 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor2\nCOMPASS_PMOT2_Z: Compass per-motor2 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor2\nCOMPASS_PMOT3_X: Compass per-motor3 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor3\nCOMPASS_PMOT3_Y: Compass per-motor3 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor3\nCOMPASS_PMOT3_Z: Compass per-motor3 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor3\nCOMPASS_PMOT4_X: Compass per-motor4 X\nNote: This parameter is for advanced users\nCompensation for X axis of motor4\nCOMPASS_PMOT4_Y: Compass per-motor4 Y\nNote: This parameter is for advanced users\nCompensation for Y axis of motor4\nCOMPASS_PMOT4_Z: Compass per-motor4 Z\nNote: This parameter is for advanced users\nCompensation for Z axis of motor4\nEAHRS Parameters\nEAHRS_TYPE: AHRS type\nType of AHRS device\nValueMeaning\n0None\n1VectorNav\n\nEAHRS_RATE: AHRS data rate\nRequested rate for AHRS device\n\nUnits: Hz\n\nEK2 Parameters\nEK2_ENABLE: Enable EKF2\nNote: This parameter is for advanced users\nThis enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nEK2_GPS_TYPE: GPS mode control\nNote: This parameter is for advanced users\nThis controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.\nValueMeaning\n0GPS 3D Vel and 2D Pos\n1GPS 2D vel and 2D pos\n2GPS 2D pos\n3No GPS\n\nEK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK2_VEL_I_GATE: GPS velocity innovation gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)\nNote: This parameter is for advanced users\nThis sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_POS_I_GATE: GPS position measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_GLITCH_RAD: GPS glitch radius gate size (m)\nNote: This parameter is for advanced users\nThis controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.\n\n\nRange: 10 100\n\n\nIncrement: 5\n\n\nUnits: m\n\n\nEK2_ALT_SOURCE: Primary altitude sensor source\nNote: This parameter is for advanced users\nPrimary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).\nValueMeaning\n0Use Baro\n1Use Range Finder\n2Use GPS\n3Use Range Beacon\n\n\nRebootRequired: True\n\nEK2_ALT_M_NSE: Altitude measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_HGT_I_GATE: Height measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_HGT_DELAY: Height measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the Height measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.01 0.5\n\n\nIncrement: 0.01\n\n\nUnits: Gauss\n\n\nEK2_MAG_CAL: Magnetometer default fusion mode\nNote: This parameter is for advanced users\nThis determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.\nValueMeaning\n0When flying\n1When manoeuvring\n2Never\n3After first climb yaw reset\n4Always\n\nEK2_MAG_I_GATE: Magnetometer measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK2_EAS_I_GATE: Airspeed measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_RNG_M_NSE: Range finder measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_RNG_I_GATE: Range finder measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_MAX_FLOW: Maximum valid optical flow rate\nNote: This parameter is for advanced users\nThis sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter\n\n\nRange: 1.0 4.0\n\n\nIncrement: 0.1\n\n\nUnits: rad/s\n\n\nEK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad/s\n\n\nEK2_FLOW_I_GATE: Optical Flow measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_FLOW_DELAY: Optical Flow measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 127\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_GYRO_P_NSE: Rate gyro noise (rad/s)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.\n\n\nRange: 0.0001 0.1\n\n\nIncrement: 0.0001\n\n\nUnits: rad/s\n\n\nEK2_ACC_P_NSE: Accelerometer noise (m/s^2)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.01\n\n\nUnits: m/s/s\n\n\nEK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)\nNote: This parameter is for advanced users\nThis state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.\n\n\nRange: 0.00001 0.001\n\n\nUnits: rad/s/s\n\n\nEK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)\nNote: This parameter is for advanced users\nThis noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.\n\n\nRange: 0.000001 0.001\n\n\nUnits: Hz\n\n\nEK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)\nNote: This parameter is for advanced users\nThis noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.\n\n\nRange: 0.00001 0.005\n\n\nUnits: m/s/s/s\n\n\nEK2_WIND_P_NSE: Wind velocity process noise (m/s^2)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK2_WIND_PSCALE: Height rate to wind process noise scaler\nNote: This parameter is for advanced users\nThis controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.\n\n\nRange: 0.0 1.0\n\n\nIncrement: 0.1\n\n\nEK2_GPS_CHECK: GPS preflight check\nNote: This parameter is for advanced users\nThis is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.\n\nBitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed\n\nEK2_IMU_MASK: Bitmask of active IMUs\nNote: This parameter is for advanced users\n1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.\n\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU\n\n\nRebootRequired: True\n\n\nEK2_CHECK_SCALE: GPS accuracy check scaler (%)\nNote: This parameter is for advanced users\nThis scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.\n\n\nRange: 50 200\n\n\nUnits: %\n\n\nEK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)\nNote: This parameter is for advanced users\nThis sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.\n\n\nRange: 0.5 50.0\n\n\nUnits: m\n\n\nEK2_YAW_M_NSE: Yaw measurement noise (rad)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad\n\n\nEK2_YAW_I_GATE: Yaw measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)\nNote: This parameter is for advanced users\nSets the time constant of the output complementary filter/predictor in centi-seconds.\n\n\nRange: 10 50\n\n\nIncrement: 5\n\n\nUnits: cs\n\n\nEK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK2_RNG_USE_HGT: Range finder switch height percentage\nNote: This parameter is for advanced users\nRange finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.\n\n\nRange: -1 70\n\n\nIncrement: 1\n\n\nUnits: %\n\n\nEK2_TERR_GRAD: Maximum terrain gradient\nNote: This parameter is for advanced users\nSpecifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.\n\n\nRange: 0 0.2\n\n\nIncrement: 0.01\n\n\nEK2_BCN_M_NSE: Range beacon measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK2_BCN_I_GTE: Range beacon measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK2_BCN_DELAY: Range beacon measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 127\n\n\nIncrement: 10\n\n\nUnits: ms\n\n\nRebootRequired: True\n\n\nEK2_RNG_USE_SPD: Range finder max ground speed\nNote: This parameter is for advanced users\nThe range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.\n\n\nRange: 2.0 6.0\n\n\nIncrement: 0.5\n\n\nUnits: m/s\n\n\nEK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion\nNote: This parameter is for advanced users\n1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction\nNote: This parameter is for advanced users\nWhen a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).\n\n\nBitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position\n\n\nRebootRequired: True\n\n\nEK2_FLOW_USE: Optical flow use bitmask\nNote: This parameter is for advanced users\nControls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.\nValueMeaning\n0None\n1Navigation\n2Terrain\n\n\nRebootRequired: True\n\nEK2_MAG_EF_LIM: EarthField error limit\nNote: This parameter is for advanced users\nThis limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.\n\n\nRange: 0 500\n\n\nUnits: mGauss\n\n\nEK2_HRT_FILT: Height rate filter crossover frequency\nSpecifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.\n\n\nRange: 0.1 30.0\n\n\nUnits: Hz\n\n\nRebootRequired: False\n\n\nEK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0. \n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed\nNote: This parameter is for advanced users\nSets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.\n\n\nRange: 1 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nEK3 Parameters\nEK3_ENABLE: Enable EKF3\nNote: This parameter is for advanced users\nThis enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nEK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)\nNote: This parameter is for advanced users\nThis sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.\n\n\nRange: 0.05 5.0\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VEL_I_GATE: GPS velocity innovation gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)\nNote: This parameter is for advanced users\nThis sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_POS_I_GATE: GPS position measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_GLITCH_RAD: GPS glitch radius gate size (m)\nNote: This parameter is for advanced users\nThis controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.\n\n\nRange: 10 100\n\n\nIncrement: 5\n\n\nUnits: m\n\n\nEK3_ALT_M_NSE: Altitude measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_HGT_I_GATE: Height measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_HGT_DELAY: Height measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the Height measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.01 0.5\n\n\nIncrement: 0.01\n\n\nUnits: Gauss\n\n\nEK3_MAG_CAL: Magnetometer default fusion mode\nNote: This parameter is for advanced users\nThis determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.\nValueMeaning\n0When flying\n1When manoeuvring\n2Never\n3After first climb yaw reset\n4Always\n5Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)\n6External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)\n\n\nRebootRequired: True\n\nEK3_MAG_I_GATE: Magnetometer measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_EAS_I_GATE: Airspeed measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_RNG_M_NSE: Range finder measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_RNG_I_GATE: Range finder measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_MAX_FLOW: Maximum valid optical flow rate\nNote: This parameter is for advanced users\nThis sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter\n\n\nRange: 1.0 4.0\n\n\nIncrement: 0.1\n\n\nUnits: rad/s\n\n\nEK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)\nNote: This parameter is for advanced users\nThis is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad/s\n\n\nEK3_FLOW_I_GATE: Optical Flow measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_FLOW_DELAY: Optical Flow measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_GYRO_P_NSE: Rate gyro noise (rad/s)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.\n\n\nRange: 0.0001 0.1\n\n\nIncrement: 0.0001\n\n\nUnits: rad/s\n\n\nEK3_ACC_P_NSE: Accelerometer noise (m/s^2)\nNote: This parameter is for advanced users\nThis control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.01\n\n\nUnits: m/s/s\n\n\nEK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)\nNote: This parameter is for advanced users\nThis state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.\n\n\nRange: 0.00001 0.001\n\n\nUnits: rad/s/s\n\n\nEK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)\nNote: This parameter is for advanced users\nThis noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.\n\n\nRange: 0.00001 0.005\n\n\nUnits: m/s/s/s\n\n\nEK3_WIND_P_NSE: Wind velocity process noise (m/s^2)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.\n\n\nRange: 0.01 2.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_WIND_PSCALE: Height rate to wind process noise scaler\nNote: This parameter is for advanced users\nThis controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.\n\n\nRange: 0.0 2.0\n\n\nIncrement: 0.1\n\n\nEK3_GPS_CHECK: GPS preflight check\nNote: This parameter is for advanced users\nThis is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.\n\nBitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed\n\nEK3_IMU_MASK: Bitmask of active IMUs\nNote: This parameter is for advanced users\n1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.\n\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU\n\n\nRebootRequired: True\n\n\nEK3_CHECK_SCALE: GPS accuracy check scaler (%)\nNote: This parameter is for advanced users\nThis scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.\n\n\nRange: 50 200\n\n\nUnits: %\n\n\nEK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)\nNote: This parameter is for advanced users\nThis sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.\n\n\nRange: 0.5 50.0\n\n\nUnits: m\n\n\nEK3_BETA_MASK: Bitmask controlling sidelip angle fusion\nNote: This parameter is for advanced users\n1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.\n\n\nBitmask: 0:Always,1:WhenNoYawSensor\n\n\nRebootRequired: True\n\n\nEK3_YAW_M_NSE: Yaw measurement noise (rad)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.\n\n\nRange: 0.05 1.0\n\n\nIncrement: 0.05\n\n\nUnits: rad\n\n\nEK3_YAW_I_GATE: Yaw measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)\nNote: This parameter is for advanced users\nSets the time constant of the output complementary filter/predictor in centi-seconds.\n\n\nRange: 10 50\n\n\nIncrement: 5\n\n\nUnits: cs\n\n\nEK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)\nNote: This parameter is for advanced users\nThis state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.\n\n\nRange: 0.00001 0.01\n\n\nUnits: Gauss/s\n\n\nEK3_RNG_USE_HGT: Range finder switch height percentage\nNote: This parameter is for advanced users\nRange finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.\n\n\nRange: -1 70\n\n\nIncrement: 1\n\n\nUnits: %\n\n\nEK3_TERR_GRAD: Maximum terrain gradient\nNote: This parameter is for advanced users\nSpecifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference\n\n\nRange: 0 0.2\n\n\nIncrement: 0.01\n\n\nEK3_BCN_M_NSE: Range beacon measurement noise (m)\nNote: This parameter is for advanced users\nThis is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.\n\n\nRange: 0.1 10.0\n\n\nIncrement: 0.1\n\n\nUnits: m\n\n\nEK3_BCN_I_GTE: Range beacon measurement gate size\nNote: This parameter is for advanced users\nThis sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.\n\n\nRange: 100 1000\n\n\nIncrement: 25\n\n\nEK3_BCN_DELAY: Range beacon measurement delay (msec)\nNote: This parameter is for advanced users\nThis is the number of msec that the range beacon measurements lag behind the inertial measurements.\n\n\nRange: 0 250\n\n\nIncrement: 10\n\n\nRebootRequired: True\n\n\nUnits: ms\n\n\nEK3_RNG_USE_SPD: Range finder max ground speed\nNote: This parameter is for advanced users\nThe range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.\n\n\nRange: 2.0 6.0\n\n\nIncrement: 0.5\n\n\nUnits: m/s\n\n\nEK3_ACC_BIAS_LIM: Accelerometer bias limit\nNote: This parameter is for advanced users\nThe accelerometer bias state will be limited to +- this value\n\n\nRange: 0.5 2.5\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion\nNote: This parameter is for advanced users\n1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction\nNote: This parameter is for advanced users\nWhen a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).\n\n\nBitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position\n\n\nRebootRequired: True\n\n\nEK3_VIS_VERR_MIN: Visual odometry minimum velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.\n\n\nRange: 0.05 0.5\n\n\nIncrement: 0.05\n\n\nUnits: m/s\n\n\nEK3_VIS_VERR_MAX: Visual odometry maximum velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.\n\n\nRange: 0.5 5.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_WENC_VERR: Wheel odometry velocity error\nNote: This parameter is for advanced users\nThis is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.\n\n\nRange: 0.01 1.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s\n\n\nEK3_FLOW_USE: Optical flow use bitmask\nNote: This parameter is for advanced users\nControls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.\nValueMeaning\n0None\n1Navigation\n2Terrain\n\n\nRebootRequired: True\n\nEK3_HRT_FILT: Height rate filter crossover frequency\nSpecifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.\n\n\nRange: 0.1 30.0\n\n\nUnits: Hz\n\n\nRebootRequired: False\n\n\nEK3_MAG_EF_LIM: EarthField error limit\nNote: This parameter is for advanced users\nThis limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.\n\n\nRange: 0 500\n\n\nUnits: mGauss\n\n\nEK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. \n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used\nNote: This parameter is for advanced users\n1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.\n\n\nBitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF\n\n\nRebootRequired: True\n\n\nEK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed\nNote: This parameter is for advanced users\nSets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.\n\n\nRange: 1 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nEK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold\nNote: This parameter is for advanced users\nlanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences\n\n\nRange: 0.05 1\n\n\nIncrement: 0.05\n\n\nEK3_AFFINITY: EKF3 Sensor Affinity Options\nNote: This parameter is for advanced users\nThese options control the affinity between sensor instances and EKF cores\n\n\nBitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity\n\n\nRebootRequired: True\n\n\nEK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag\nNote: This parameter is for advanced users\nRatio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.\n\n\nRange: 0.0 1000.0\n\n\nUnits: kg/m/m\n\n\nEK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag\nNote: This parameter is for advanced users\nRatio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.\n\n\nRange: 50.0 1000.0\n\n\nUnits: kg/m/m\n\n\nEK3_DRAG_M_NSE: Observation noise for drag acceleration\nNote: This parameter is for advanced users\nThis sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters\n\n\nRange: 0.1 2.0\n\n\nIncrement: 0.1\n\n\nUnits: m/s/s\n\n\nEK3_DRAG_MCOEF: Momentum coefficient for propeller drag\nNote: This parameter is for advanced users\nThis parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.\n\n\nRange: 0.0 1.0\n\n\nIncrement: 0.01\n\n\nUnits: 1/s\n\n\nEK3_OGNM_TEST_SF: On ground not moving test scale factor\nNote: This parameter is for advanced users\nThis parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.\n\n\nRange: 1.0 10.0\n\n\nIncrement: 0.5\n\n\nEK3_GND_EFF_DZ: Baro height ground effect dead zone\nNote: This parameter is for advanced users\nThis parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. \n\n\nRange: 0.0 10.0\n\n\nIncrement: 0.5\n\n\nEK3_PRIMARY: Primary core number\nNote: This parameter is for advanced users\nThe core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.\n\n\nRange: 0 2\n\n\nIncrement: 1\n\n\nEK3SRC Parameters\nEK3_SRC1_POSXY: Position Horizontal Source (Primary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Primary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_VELXY: Velocity Horizontal Source\nNote: This parameter is for advanced users\nVelocity Horizontal Source\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC1_POSZ: Position Vertical Source\nNote: This parameter is for advanced users\nPosition Vertical Source\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_VELZ: Velocity Vertical Source\nNote: This parameter is for advanced users\nVelocity Vertical Source\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC1_YAW: Yaw Source\nNote: This parameter is for advanced users\nYaw Source\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC2_POSXY: Position Horizontal Source (Secondary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)\nNote: This parameter is for advanced users\nVelocity Horizontal Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC2_POSZ: Position Vertical Source (Secondary)\nNote: This parameter is for advanced users\nPosition Vertical Source (Secondary)\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_VELZ: Velocity Vertical Source (Secondary)\nNote: This parameter is for advanced users\nVelocity Vertical Source (Secondary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC2_YAW: Yaw Source (Secondary)\nNote: This parameter is for advanced users\nYaw Source (Secondary)\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC3_POSXY: Position Horizontal Source (Tertiary)\nNote: This parameter is for advanced users\nPosition Horizontal Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)\nNote: This parameter is for advanced users\nVelocity Horizontal Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n5OpticalFlow\n6ExternalNav\n7WheelEncoder\n\nEK3_SRC3_POSZ: Position Vertical Source (Tertiary)\nNote: This parameter is for advanced users\nPosition Vertical Source (Tertiary)\nValueMeaning\n0None\n1Baro\n2RangeFinder\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)\nNote: This parameter is for advanced users\nVelocity Vertical Source (Tertiary)\nValueMeaning\n0None\n3GPS\n4Beacon\n6ExternalNav\n\nEK3_SRC3_YAW: Yaw Source (Tertiary)\nNote: This parameter is for advanced users\nYaw Source (Tertiary)\nValueMeaning\n0None\n1Compass\n2GPS\n3GPS with Compass Fallback\n6ExternalNav\n8GSF\n\nEK3_SRC_OPTIONS: EKF Source Options\nNote: This parameter is for advanced users\nEKF Source Options\n\nBitmask: 0:FuseAllVelocities\n\nFENCE Parameters\nFENCE_ENABLE: Fence enable/disable\nAllows you to enable (1) or disable (0) the fence functionality\nValueMeaning\n0Disabled\n1Enabled\n\nFENCE_TYPE: Fence Type\nEnabled fence types held as bitmask\n\nBitmask: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude\n\nFENCE_ACTION: Fence Action\nWhat action should be taken when fence is breached\nValueMeaning\n0Report Only\n1RTL or Land\n\nFENCE_ALT_MAX: Fence Maximum Altitude\nMaximum altitude allowed before geofence triggers\n\n\nUnits: m\n\n\nRange: 10 1000\n\n\nIncrement: 1\n\n\nFENCE_RADIUS: Circular Fence Radius\nCircle fence radius which when breached will cause an RTL\n\n\nUnits: m\n\n\nRange: 30 10000\n\n\nFENCE_MARGIN: Fence Margin\nDistance that autopilot's should maintain from the fence to avoid a breach\n\n\nUnits: m\n\n\nRange: 1 10\n\n\nFENCE_TOTAL: Fence polygon point total\nNumber of polygon points saved in eeprom (do not update manually)\n\nRange: 1 20\n\nFENCE_ALT_MIN: Fence Minimum Altitude\nMinimum altitude allowed before geofence triggers\n\n\nUnits: m\n\n\nRange: -100 100\n\n\nIncrement: 1\n\n\nFFT Parameters\nFFT_ENABLE: Enable\nNote: This parameter is for advanced users\nEnable Gyro FFT analyser\nValueMeaning\n0Disabled\n1Enabled\n\n\nRebootRequired: True\n\nFFT_MINHZ: Minimum Frequency\nNote: This parameter is for advanced users\nLower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.\n\n\nRange: 20 400\n\n\nUnits: Hz\n\n\nFFT_MAXHZ: Maximum Frequency\nNote: This parameter is for advanced users\nUpper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.\n\n\nRange: 20 495\n\n\nUnits: Hz\n\n\nFFT_SAMPLE_MODE: Sample Mode\nNote: This parameter is for advanced users\nSampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.\n\n\nRange: 0 4\n\n\nRebootRequired: True\n\n\nFFT_WINDOW_SIZE: FFT window size\nNote: This parameter is for advanced users\nSize of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.\n\n\nRange: 32 1024\n\n\nRebootRequired: True\n\n\nFFT_WINDOW_OLAP: FFT window overlap\nNote: This parameter is for advanced users\nPercentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.\n\n\nRange: 0 0.9\n\n\nRebootRequired: True\n\n\nFFT_FREQ_HOVER: FFT learned hover frequency\nNote: This parameter is for advanced users\nThe learned hover noise frequency\n\nRange: 0 250\n\nFFT_THR_REF: FFT learned thrust reference\nNote: This parameter is for advanced users\nFFT learned thrust reference for the hover frequency and FFT minimum frequency.\n\nRange: 0.01 0.9\n\nFFT_SNR_REF: FFT SNR reference threshold\nNote: This parameter is for advanced users\nFFT SNR reference threshold in dB at which a signal is determined to be present.\n\nRange: 0.0 100.0\n\nFFT_ATT_REF: FFT attenuation for bandwidth calculation\nNote: This parameter is for advanced users\nFFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.\n\nRange: 0 100\n\nFFT_BW_HOVER: FFT learned bandwidth at hover\nNote: This parameter is for advanced users\nFFT learned bandwidth at hover for the attenuation frequencies.\n\nRange: 0 200\n\nFFT_HMNC_FIT: FFT harmonic fit frequency threshold\nNote: This parameter is for advanced users\nFFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.\n\n\nRange: 0 100\n\n\nRebootRequired: True\n\n\nFFT_HMNC_PEAK: FFT harmonic peak target\nNote: This parameter is for advanced users\nThe FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).\nValueMeaning\n0Auto\n1Center Frequency\n2Lower-Shoulder Frequency\n3Upper-Shoulder Frequency\n4Roll-Axis\n5Pitch-Axis\n\nFLOW Parameters\nFLOW_TYPE: Optical flow sensor type\nOptical flow sensor type\nValueMeaning\n0None\n1PX4Flow\n2Pixart\n3Bebop\n4CXOF\n5MAVLink\n6UAVCAN\n7MSP\n8UPFLOW\n\n\nRebootRequired: True\n\nFLOW_FXSCALER: X axis optical flow scale factor correction\nThis sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.\n\n\nRange: -200 +200\n\n\nIncrement: 1\n\n\nFLOW_FYSCALER: Y axis optical flow scale factor correction\nThis sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.\n\n\nRange: -200 +200\n\n\nIncrement: 1\n\n\nFLOW_ORIENT_YAW: Flow sensor yaw alignment\nSpecifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.\n\n\nUnits: cdeg\n\n\nRange: -17999 +18000\n\n\nIncrement: 10\n\n\nFLOW_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nFLOW_ADDR: Address on the bus\nNote: This parameter is for advanced users\nThis is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.\n\nRange: 0 127\n\nFRSKY Parameters\nFRSKY_UPLINK_ID: Uplink sensor id\nNote: This parameter is for advanced users\nChange the uplink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK1_ID: First downlink sensor id\nNote: This parameter is for advanced users\nChange the first extra downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK2_ID: Second downlink sensor id\nNote: This parameter is for advanced users\nChange the second extra downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n\nFRSKY_DNLINK_ID: Default downlink sensor id\nNote: This parameter is for advanced users\nChange the default downlink sensor id (SPort only)\nValueMeaning\n-1Disable\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n1515\n1616\n1717\n1818\n1919\n2020\n2121\n2222\n2323\n2424\n2525\n2626\n2727\n\nGEN Parameters\nGEN_TYPE: Generator type\nGenerator type\nValueMeaning\n0Disabled\n1IE 650w 800w Fuel Cell\n2IE 2.4kW Fuel Cell\n3Richenpower\n\n\nRebootRequired: True\n\nGPS Parameters\nGPS_TYPE: 1st GPS type\nNote: This parameter is for advanced users\nGPS type of 1st GPS\nValueMeaning\n0None\n1AUTO\n2uBlox\n3MTK\n4MTK19\n5NMEA\n6SiRF\n7HIL\n8SwiftNav\n9UAVCAN\n10SBF\n11GSOF\n13ERB\n14MAV\n15NOVA\n16HemisphereNMEA\n17uBlox-MovingBaseline-Base\n18uBlox-MovingBaseline-Rover\n19MSP\n20AllyStar\n21ExternalAHRS\n\n\nRebootRequired: True\n\nGPS_TYPE2: 2nd GPS type\nNote: This parameter is for advanced users\nGPS type of 2nd GPS\nValueMeaning\n0None\n1AUTO\n2uBlox\n3MTK\n4MTK19\n5NMEA\n6SiRF\n7HIL\n8SwiftNav\n9UAVCAN\n10SBF\n11GSOF\n13ERB\n14MAV\n15NOVA\n16HemisphereNMEA\n17uBlox-MovingBaseline-Base\n18uBlox-MovingBaseline-Rover\n19MSP\n20AllyStar\n21ExternalAHRS\n\n\nRebootRequired: True\n\nGPS_NAVFILTER: Navigation filter setting\nNote: This parameter is for advanced users\nNavigation filter engine setting\nValueMeaning\n0Portable\n2Stationary\n3Pedestrian\n4Automotive\n5Sea\n6Airborne1G\n7Airborne2G\n8Airborne4G\n\nGPS_AUTO_SWITCH: Automatic Switchover Setting\nNote: This parameter is for advanced users\nAutomatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary\nValueMeaning\n0Use primary\n1UseBest\n2Blend\n4Use primary if 3D fix or better\n\nGPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS\nNote: This parameter is for advanced users\nSets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.\nValueMeaning\n0Any\n50FloatRTK\n100IntegerRTK\n\n\nRebootRequired: True\n\nGPS_SBAS_MODE: SBAS Mode\nNote: This parameter is for advanced users\nThis sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.\nValueMeaning\n0Disabled\n1Enabled\n2NoChange\n\nGPS_MIN_ELEV: Minimum elevation\nNote: This parameter is for advanced users\nThis sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.\n\n\nRange: -100 90\n\n\nUnits: deg\n\n\nGPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets\nNote: This parameter is for advanced users\nThe GGS can send raw serial packets to inject data to multiple GPSes.\nValueMeaning\n0send to first GPS\n1send to 2nd GPS\n127send to all\n\nGPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask\nNote: This parameter is for advanced users\nMasked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged\nValueMeaning\n0None (0x0000)\n-1All (0xFFFF)\n-256External only (0xFF00)\n\nGPS_RAW_DATA: Raw data logging\nNote: This parameter is for advanced users\nHandles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming\nValueMeaning\n0Ignore\n1Always log\n2Stop logging when disarmed (SBF only)\n5Only log every five samples (uBlox only)\n\n\nRebootRequired: True\n\nGPS_GNSS_MODE: GNSS system configuration\nNote: This parameter is for advanced users\nBitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)\n\nBitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS\n\nGPS_SAVE_CFG: Save GPS configuration\nNote: This parameter is for advanced users\nDetermines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.\nValueMeaning\n0Do not save config\n1Save config\n2Save only when needed\n\nGPS_GNSS_MODE2: GNSS system configuration\nNote: This parameter is for advanced users\nBitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)\n\nBitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS\n\nGPS_AUTO_CONFIG: Automatic GPS configuration\nNote: This parameter is for advanced users\nControls if the autopilot should automatically configure the GPS based on the parameters and default settings\nValueMeaning\n0Disables automatic configuration\n1Enable automatic configuration\n\nGPS_RATE_MS: GPS update rate in milliseconds\nNote: This parameter is for advanced users\nControls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.\n\nUnits: ms\n\nValueMeaning\n10010Hz\n1258Hz\n2005Hz\n\n\nRange: 50 200\n\nGPS_RATE_MS2: GPS 2 update rate in milliseconds\nNote: This parameter is for advanced users\nControls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.\n\nUnits: ms\n\nValueMeaning\n10010Hz\n1258Hz\n2005Hz\n\n\nRange: 50 200\n\nGPS_POS1_X: Antenna X position offset\nNote: This parameter is for advanced users\nX position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS1_Y: Antenna Y position offset\nNote: This parameter is for advanced users\nY position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS1_Z: Antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_X: Antenna X position offset\nNote: This parameter is for advanced users\nX position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_Y: Antenna Y position offset\nNote: This parameter is for advanced users\nY position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_POS2_Z: Antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_DELAY_MS: GPS delay in milliseconds\nNote: This parameter is for advanced users\nControls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nRebootRequired: True\n\n\nGPS_DELAY_MS2: GPS 2 delay in milliseconds\nNote: This parameter is for advanced users\nControls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nRebootRequired: True\n\n\nGPS_BLEND_MASK: Multi GPS Blending Mask\nNote: This parameter is for advanced users\nDetermines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)\n\nBitmask: 0:Horiz Pos,1:Vert Pos,2:Speed\n\nGPS_BLEND_TC: Blending time constant\nNote: This parameter is for advanced users\nControls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.\n\n\nUnits: s\n\n\nRange: 5.0 30.0\n\n\nGPS_DRV_OPTIONS: driver options\nNote: This parameter is for advanced users\nAdditional backend specific options\n\nBitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200\n\nGPS_COM_PORT: GPS physical COM port\nNote: This parameter is for advanced users\nThe physical COM port on the connected device, currently only applies to SBF GPS\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nGPS_COM_PORT2: GPS physical COM port\nNote: This parameter is for advanced users\nThe physical COM port on the connected device, currently only applies to SBF GPS\n\n\nRange: 0 10\n\n\nIncrement: 1\n\n\nRebootRequired: True\n\n\nGPS_PRIMARY: Primary GPS\nNote: This parameter is for advanced users\nThis GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.\n\nIncrement: 1\n\nValueMeaning\n0FirstGPS\n1SecondGPS\n\nGPS_CAN_NODEID1: GPS Node ID 1\nNote: This parameter is for advanced users\nGPS Node id for discovered first.\n\nReadOnly: True\n\nGPS_CAN_NODEID2: GPS Node ID 2\nNote: This parameter is for advanced users\nGPS Node id for discovered second.\n\nReadOnly: True\n\nGPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID\nNote: This parameter is for advanced users\nGPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.\nGPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID\nNote: This parameter is for advanced users\nGPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.\nGPSMB1 Parameters\nGPS_MB1_TYPE: Moving base type\nNote: This parameter is for advanced users\nControls the type of moving base used if using moving base.\nValueMeaning\n0Relative to alternate GPS instance\n1RelativeToCustomBase\n\n\nRebootRequired: True\n\nGPS_MB1_OFS_X: Base antenna X position offset\nNote: This parameter is for advanced users\nX position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB1_OFS_Y: Base antenna Y position offset\nNote: This parameter is for advanced users\nY position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB1_OFS_Z: Base antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPSMB2 Parameters\nGPS_MB2_TYPE: Moving base type\nNote: This parameter is for advanced users\nControls the type of moving base used if using moving base.\nValueMeaning\n0Relative to alternate GPS instance\n1RelativeToCustomBase\n\n\nRebootRequired: True\n\nGPS_MB2_OFS_X: Base antenna X position offset\nNote: This parameter is for advanced users\nX position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB2_OFS_Y: Base antenna Y position offset\nNote: This parameter is for advanced users\nY position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGPS_MB2_OFS_Z: Base antenna Z position offset\nNote: This parameter is for advanced users\nZ position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nGRIP Parameters\nGRIP_ENABLE: Gripper Enable/Disable\nGripper enable/disable\nValueMeaning\n0Disabled\n1Enabled\n\nGRIP_TYPE: Gripper Type\nGripper enable/disable\nValueMeaning\n0None\n1Servo\n2EPM\n\nGRIP_GRAB: Gripper Grab PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to Gripper to initiate grabbing the cargo\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_RELEASE: Gripper Release PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to Gripper to release the cargo\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_NEUTRAL: Neutral PWM\nNote: This parameter is for advanced users\nPWM value in microseconds sent to grabber when not grabbing or releasing\n\n\nRange: 1000 2000\n\n\nUnits: PWM\n\n\nGRIP_REGRAB: Gripper Regrab interval\nNote: This parameter is for advanced users\nTime in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable\n\n\nRange: 0 255\n\n\nUnits: s\n\n\nGRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID\nRefer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface\n\nRange: 0 255\n\nINS Parameters\nINS_GYROFFS_X: Gyro offsets of X axis\nNote: This parameter is for advanced users\nGyro sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYROFFS_Y: Gyro offsets of Y axis\nNote: This parameter is for advanced users\nGyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYROFFS_Z: Gyro offsets of Z axis\nNote: This parameter is for advanced users\nGyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_X: Gyro2 offsets of X axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_Y: Gyro2 offsets of Y axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR2OFFS_Z: Gyro2 offsets of Z axis\nNote: This parameter is for advanced users\nGyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_X: Gyro3 offsets of X axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_Y: Gyro3 offsets of Y axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_GYR3OFFS_Z: Gyro3 offsets of Z axis\nNote: This parameter is for advanced users\nGyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations\n\n\nUnits: rad/s\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_X: Accelerometer scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_Y: Accelerometer scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCSCAL_Z: Accelerometer scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_X: Accelerometer offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_Y: Accelerometer offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACCOFFS_Z: Accelerometer offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_X: Accelerometer2 scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer2 scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_X: Accelerometer2 offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_X: Accelerometer3 scaling of X axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of X axis. Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of Y axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis\nNote: This parameter is for advanced users\nAccelerometer3 scaling of Z axis Calculated during acceleration calibration routine\n\n\nRange: 0.8 1.2\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_X: Accelerometer3 offsets of X axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis\nNote: This parameter is for advanced users\nAccelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations\n\n\nUnits: m/s/s\n\n\nRange: -3.5 3.5\n\n\nCalibration: 1\n\n\nINS_GYRO_FILTER: Gyro filter cutoff frequency\nNote: This parameter is for advanced users\nFilter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)\n\n\nUnits: Hz\n\n\nRange: 0 256\n\n\nINS_ACCEL_FILTER: Accel filter cutoff frequency\nNote: This parameter is for advanced users\nFilter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)\n\n\nUnits: Hz\n\n\nRange: 0 256\n\n\nINS_USE: Use first IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse first IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_USE2: Use second IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse second IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_USE3: Use third IMU for attitude, velocity and position estimates\nNote: This parameter is for advanced users\nUse third IMU for attitude, velocity and position estimates\nValueMeaning\n0Disabled\n1Enabled\n\nINS_STILL_THRESH: Stillness threshold for detecting if we are moving\nNote: This parameter is for advanced users\nThreshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5\n\nRange: 0.05 50\n\nINS_GYR_CAL: Gyro Calibration scheme\nNote: This parameter is for advanced users\nConrols when automatic gyro calibration is performed\nValueMeaning\n0Never\n1Start-up only\n\nINS_TRIM_OPTION: Accel cal trim option\nNote: This parameter is for advanced users\nSpecifies how the accel cal routine determines the trims\nValueMeaning\n0Don't adjust the trims\n1Assume first orientation was level\n2Assume ACC_BODYFIX is perfectly aligned to the vehicle\n\nINS_ACC_BODYFIX: Body-fixed accelerometer\nNote: This parameter is for advanced users\nThe body-fixed accelerometer to be used for trim calculation\nValueMeaning\n1IMU 1\n2IMU 2\n3IMU 3\n\nINS_POS1_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS1_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS1_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS2_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS3_X: IMU accelerometer X position\nNote: This parameter is for advanced users\nX position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -10 10\n\n\nINS_POS3_Y: IMU accelerometer Y position\nNote: This parameter is for advanced users\nY position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_POS3_Z: IMU accelerometer Z position\nNote: This parameter is for advanced users\nZ position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nINS_GYR_ID: Gyro ID\nNote: This parameter is for advanced users\nGyro sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_GYR2_ID: Gyro2 ID\nNote: This parameter is for advanced users\nGyro2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_GYR3_ID: Gyro3 ID\nNote: This parameter is for advanced users\nGyro3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC_ID: Accelerometer ID\nNote: This parameter is for advanced users\nAccelerometer sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC2_ID: Accelerometer2 ID\nNote: This parameter is for advanced users\nAccelerometer2 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_ACC3_ID: Accelerometer3 ID\nNote: This parameter is for advanced users\nAccelerometer3 sensor ID, taking into account its type, bus and instance\n\nReadOnly: True\n\nINS_FAST_SAMPLE: Fast sampling mask\nNote: This parameter is for advanced users\nMask of IMUs to enable fast sampling on, if available\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU\n\nINS_ENABLE_MASK: IMU enable mask\nNote: This parameter is for advanced users\nBitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs\n\nBitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU\n\nINS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled\nNote: This parameter is for advanced users\nGyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.\nValueMeaning\n01kHz\n12kHz\n24kHz\n38kHz\n\n\nRebootRequired: True\n\nINS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer\nNote: This parameter is for advanced users\nTemperature that the 1st accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope\nNote: This parameter is for advanced users\nTemperature that the 1st gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer\nNote: This parameter is for advanced users\nTemperature that the 2nd accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope\nNote: This parameter is for advanced users\nTemperature that the 2nd gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer\nNote: This parameter is for advanced users\nTemperature that the 3rd accelerometer was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope\nNote: This parameter is for advanced users\nTemperature that the 3rd gyroscope was calibrated at\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCAL_OPTIONS: Options for temperature calibration\nNote: This parameter is for advanced users\nThis enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.\n\nBitmask: 0:PersistParams\n\nINSHNTCH Parameters\nINS_HNTCH_ENABLE: Harmonic Notch Filter enable\nNote: This parameter is for advanced users\nHarmonic Notch Filter enable\nValueMeaning\n0Disabled\n1Enabled\n\nINS_HNTCH_FREQ: Harmonic Notch Filter base frequency\nNote: This parameter is for advanced users\nHarmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.\n\n\nRange: 10 495\n\n\nUnits: Hz\n\n\nINS_HNTCH_BW: Harmonic Notch Filter bandwidth\nNote: This parameter is for advanced users\nHarmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.\n\n\nRange: 5 250\n\n\nUnits: Hz\n\n\nINS_HNTCH_ATT: Harmonic Notch Filter attenuation\nNote: This parameter is for advanced users\nHarmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.\n\n\nRange: 5 50\n\n\nUnits: dB\n\n\nINS_HNTCH_HMNCS: Harmonic Notch Filter harmonics\nNote: This parameter is for advanced users\nBitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.\n\n\nBitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic\n\n\nRebootRequired: True\n\n\nINS_HNTCH_REF: Harmonic Notch Filter reference value\nNote: This parameter is for advanced users\nA reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.\n\n\nRange: 0.0 1.0\n\n\nRebootRequired: True\n\n\nINS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode\nNote: This parameter is for advanced users\nHarmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.\n\nRange: 0 4\n\nValueMeaning\n0Disabled\n1Throttle\n2RPM Sensor\n3ESC Telemetry\n4Dynamic FFT\n\nINS_HNTCH_OPTS: Harmonic Notch Filter options\nNote: This parameter is for advanced users\nHarmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.\n\n\nBitmask: 0:Double notch,1:Dynamic harmonic,2:Update at loop rate\n\n\nRebootRequired: True\n\n\nINSLOG Parameters\nINS_LOG_BAT_CNT: sample count per batch\nNote: This parameter is for advanced users\nNumber of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.\n\n\nIncrement: 32\n\n\nRebootRequired: True\n\n\nINS_LOG_BAT_MASK: Sensor Bitmask\nNote: This parameter is for advanced users\nBitmap of which IMUs to log batch data for. This option takes effect on the next reboot.\n\n\nBitmask: 0:IMU1,1:IMU2,2:IMU3\n\n\nRebootRequired: True\n\n\nINS_LOG_BAT_OPT: Batch Logging Options Mask\nNote: This parameter is for advanced users\nOptions for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.\n\nBitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering\n\nINS_LOG_BAT_LGIN: logging interval\nInterval between pushing samples to the AP_Logger log\n\n\nUnits: ms\n\n\nIncrement: 10\n\n\nINS_LOG_BAT_LGCT: logging count\nNumber of samples to push to count every INS_LOG_BAT_LGIN\n\nIncrement: 1\n\nINSNOTCH Parameters\nINS_NOTCH_ENABLE: Enable\nNote: This parameter is for advanced users\nEnable notch filter\nValueMeaning\n0Disabled\n1Enabled\n\nINS_NOTCH_ATT: Attenuation\nNote: This parameter is for advanced users\nNotch attenuation in dB\n\n\nRange: 5 30\n\n\nUnits: dB\n\n\nINS_NOTCH_FREQ: Frequency\nNote: This parameter is for advanced users\nNotch center frequency in Hz\n\n\nRange: 10 400\n\n\nUnits: Hz\n\n\nINS_NOTCH_BW: Bandwidth\nNote: This parameter is for advanced users\nNotch bandwidth in Hz\n\n\nRange: 5 100\n\n\nUnits: Hz\n\n\nINSTCALn Parameters\nINS_TCALn_ENABLE: Enable temperature calibration\nNote: This parameter is for advanced users\nEnable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot\nValueMeaning\n0Disabled\n1Enabled\n2LearnCalibration\n\n\nRebootRequired: True\n\nINS_TCALn_TMIN: Temperature calibration min\nNote: This parameter is for advanced users\nThe minimum temperature that the calibration is valid for\n\n\nRange: -70 80\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCALn_TMAX: Temperature calibration max\nNote: This parameter is for advanced users\nThe maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration\n\n\nRange: -70 80\n\n\nUnits: degC\n\n\nCalibration: 1\n\n\nINS_TCALn_ACC1_X: Accelerometer 1st order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_X: Accelerometer 2nd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_X: Accelerometer 3rd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_X: Gyroscope 1st order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 1st order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_X: Gyroscope 2nd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 2nd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_X: Gyroscope 3rd order temperature coefficient X axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nINS_TCALn_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis\nNote: This parameter is for advanced users\nThis is the 3rd order temperature coefficient from a temperature calibration\n\nCalibration: 1\n\nLEAK Parameters\nLEAK1_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Built-In\n\n\nRebootRequired: True\n\nLEAK1_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLEAK2_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Leak1\n\n\nRebootRequired: True\n\nLEAK2_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLEAK3_PIN: Pin that leak detector is connected to\nPin that the leak detector is connected to\nValueMeaning\n-1Disabled\n50Pixhawk Aux1\n51Pixhawk Aux2\n52Pixhawk Aux3\n53Pixhawk Aux4\n54Pixhawk Aux5\n55Pixhawk Aux6\n13Pixhawk 3.3ADC1\n14Pixhawk 3.3ADC2\n15Pixhawk 6.6ADC\n27Navigator Leak1\n\n\nRebootRequired: True\n\nLEAK3_LOGIC: Default reading of leak detector when dry\nDefault reading of leak detector when dry\nValueMeaning\n0Low\n1High\n\nLOG Parameters\nLOG_BACKEND_TYPE: AP_Logger Backend Storage type\nBitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.\n\nBitmask: 0:File,1:MAVLink,2:Block\n\nLOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)\nThe File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce \"gaps\" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.\nLOG_DISARMED: Enable logging while disarmed\nIf LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_REPLAY: Enable logging of information needed for Replay\nIf LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_FILE_DSRMROT: Stop logging to current file on disarm\nWhen set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.\nValueMeaning\n0Disabled\n1Enabled\n\nLOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size\nNote: This parameter is for advanced users\nMaximum amount of memory to allocate to AP_Logger-over-mavlink\n\nUnits: kB\n\nLOG_FILE_TIMEOUT: Timeout before giving up on file writes\nThis controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.\n\nUnits: s\n\nLOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space\nSet this such that the free space is larger than your largest typical flight log\n\n\nUnits: MB\n\n\nRange: 10 1000\n\n\nLOIT Parameters\nLOIT_ANG_MAX: Loiter Angle Max\nNote: This parameter is for advanced users\nLoiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX\n\n\nUnits: deg\n\n\nRange: 0 45\n\n\nIncrement: 1\n\n\nLOIT_SPEED: Loiter Horizontal Maximum Speed\nDefines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode\n\n\nUnits: cm/s\n\n\nRange: 20 3500\n\n\nIncrement: 50\n\n\nLOIT_ACC_MAX: Loiter maximum correction acceleration\nNote: This parameter is for advanced users\nLoiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.\n\n\nUnits: cm/s/s\n\n\nRange: 100 981\n\n\nIncrement: 1\n\n\nLOIT_BRK_ACCEL: Loiter braking acceleration\nNote: This parameter is for advanced users\nLoiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.\n\n\nUnits: cm/s/s\n\n\nRange: 25 250\n\n\nIncrement: 1\n\n\nLOIT_BRK_JERK: Loiter braking jerk\nNote: This parameter is for advanced users\nLoiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.\n\n\nUnits: cm/s/s/s\n\n\nRange: 500 5000\n\n\nIncrement: 1\n\n\nLOIT_BRK_DELAY: Loiter brake start delay (in seconds)\nNote: This parameter is for advanced users\nLoiter brake start delay (in seconds)\n\n\nUnits: s\n\n\nRange: 0 2\n\n\nIncrement: 0.1\n\n\nMIS Parameters\nMIS_TOTAL: Total mission commands\nNote: This parameter is for advanced users\nThe number of mission mission items that has been loaded by the ground station. Do not change this manually.\n\n\nRange: 0 32766\n\n\nIncrement: 1\n\n\nReadOnly: True\n\n\nMIS_RESTART: Mission Restart when entering Auto mode\nNote: This parameter is for advanced users\nControls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)\nValueMeaning\n0Resume Mission\n1Restart Mission\n\nMIS_OPTIONS: Mission options bitmask\nNote: This parameter is for advanced users\nBitmask of what options to use in missions.\n\nBitmask: 0:Clear Mission on reboot\n\nMNT Parameters\nMNT_TYPE: Mount Type\nMount Type (None, Servo or MAVLink)\nValueMeaning\n0None\n1Servo\n23DR Solo\n3Alexmos Serial\n4SToRM32 MAVLink\n5SToRM32 Serial\n\n\nRebootRequired: True\n\nMNT_DEFLT_MODE: Mount default operating mode\nMount default operating mode on startup and after control is returned from autopilot\nValueMeaning\n0Retracted\n1Neutral\n2MavLink Targeting\n3RC Targeting\n4GPS Point\n\nMNT_RETRACT_X: Mount roll angle when in retracted position\nMount roll angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position\nMount tilt/pitch angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_RETRACT_Z: Mount yaw/pan angle when in retracted position\nMount yaw/pan angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_X: Mount roll angle when in neutral position\nMount roll angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position\nMount tilt/pitch angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position\nMount pan/yaw angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT_STAB_ROLL: Stabilize mount's roll angle\nenable roll stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_STAB_TILT: Stabilize mount's pitch/tilt angle\nenable tilt/pitch stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_STAB_PAN: Stabilize mount pan/yaw angle\nenable pan/yaw stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT_RC_IN_ROLL: roll RC input channel\n0 for none, any other for the RC channel to be used to control roll movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_ROL: Minimum roll angle\nMinimum physical roll angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_ROL: Maximum roll angle\nMaximum physical roll angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_RC_IN_TILT: tilt (pitch) RC input channel\n0 for none, any other for the RC channel to be used to control tilt (pitch) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_TIL: Minimum tilt angle\nMinimum physical tilt (pitch) angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_TIL: Maximum tilt angle\nMaximum physical tilt (pitch) angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_RC_IN_PAN: pan (yaw) RC input channel\n0 for none, any other for the RC channel to be used to control pan (yaw) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT_ANGMIN_PAN: Minimum pan angle\nMinimum physical pan (yaw) angular position of mount.\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_ANGMAX_PAN: Maximum pan angle\nMaximum physical pan (yaw) angular position of the mount\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT_JSTICK_SPD: mount joystick speed\n0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.\n\n\nRange: 0 100\n\n\nIncrement: 1\n\n\nMNT_LEAD_RLL: Roll stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT_LEAD_PTCH: Pitch stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_DEFLT_MODE: Mount default operating mode\nMount default operating mode on startup and after control is returned from autopilot\nValueMeaning\n0Retracted\n1Neutral\n2MavLink Targeting\n3RC Targeting\n4GPS Point\n\nMNT2_RETRACT_X: Mount2 roll angle when in retracted position\nMount2 roll angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position\nMount2 tilt/pitch angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position\nMount2 yaw/pan angle when in retracted position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_X: Mount2 roll angle when in neutral position\nMount2 roll angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position\nMount2 tilt/pitch angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position\nMount2 pan/yaw angle when in neutral position\n\n\nUnits: deg\n\n\nRange: -180.00 179.99\n\n\nIncrement: 1\n\n\nMNT2_STAB_ROLL: Stabilize Mount2's roll angle\nenable roll stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle\nenable tilt/pitch stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_STAB_PAN: Stabilize mount2 pan/yaw angle\nenable pan/yaw stabilisation relative to Earth\nValueMeaning\n0Disabled\n1Enabled\n\nMNT2_RC_IN_ROLL: Mount2's roll RC input channel\n0 for none, any other for the RC channel to be used to control roll movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_ROL: Mount2's minimum roll angle\nMount2's minimum physical roll angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_ROL: Mount2's maximum roll angle\nMount2's maximum physical roll angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel\n0 for none, any other for the RC channel to be used to control tilt (pitch) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_TIL: Mount2's minimum tilt angle\nMount2's minimum physical tilt (pitch) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_TIL: Mount2's maximum tilt angle\nMount2's maximum physical tilt (pitch) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel\n0 for none, any other for the RC channel to be used to control pan (yaw) movements\nValueMeaning\n0Disabled\n5RC5\n6RC6\n7RC7\n8RC8\n9RC9\n10RC10\n11RC11\n12RC12\n\nMNT2_ANGMIN_PAN: Mount2's minimum pan angle\nMount2's minimum physical pan (yaw) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_ANGMAX_PAN: Mount2's maximum pan angle\nMOunt2's maximum physical pan (yaw) angular position\n\n\nUnits: cdeg\n\n\nRange: -18000 17999\n\n\nIncrement: 10\n\n\nMNT2_LEAD_RLL: Mount2's Roll stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time\nCauses the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.\n\n\nUnits: s\n\n\nRange: 0.0 0.2\n\n\nIncrement: .005\n\n\nMNT2_TYPE: Mount2 Type\nMount Type (None, Servo or MAVLink)\nValueMeaning\n0None\n1Servo\n23DR Solo\n3Alexmos Serial\n4SToRM32 MAVLink\n5SToRM32 Serial\n\nMOT Parameters\nMOT_1_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_2_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_3_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_4_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_5_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_6_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_7_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_8_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_FV_CPLNG_K: Forward/vertical to pitch decoupling factor\nUsed to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal\n\n\nRange: 0.0 1.5\n\n\nIncrement: 0.1\n\n\nMOT_9_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_10_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_11_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_12_DIRECTION: Motor normal or reverse\nUsed to change motor rotation directions without changing wires\nValueMeaning\n1normal\n-1reverse\n\nMOT_YAW_HEADROOM: Matrix Yaw Min\nNote: This parameter is for advanced users\nYaw control is given at least this pwm in microseconds range\n\n\nRange: 0 500\n\n\nUnits: PWM\n\n\nMOT_THST_EXPO: Thrust Curve Expo\nNote: This parameter is for advanced users\nMotor thrust curve exponent (0.0 for linear to 1.0 for second order curve)\n\nRange: -1.0 1.0\n\nMOT_SPIN_MAX: Motor Spin maximum\nNote: This parameter is for advanced users\nPoint at which the thrust saturates expressed as a number from 0 to 1 in the entire output range\n\nValues: 0.9:Low,0.95:Default,1.0:High\n\nMOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage\nNote: This parameter is for advanced users\nBattery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled\n\n\nRange: 6 53\n\n\nUnits: V\n\n\nMOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage\nNote: This parameter is for advanced users\nBattery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled\n\n\nRange: 6 42\n\n\nUnits: V\n\n\nMOT_BAT_CURR_MAX: Motor Current Max\nNote: This parameter is for advanced users\nMaximum current over which maximum throttle is limited (0 = Disabled)\n\n\nRange: 0 200\n\n\nUnits: A\n\n\nMOT_PWM_TYPE: Output PWM type\nNote: This parameter is for advanced users\nThis selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output\nValueMeaning\n0Normal\n1OneShot\n2OneShot125\n3Brushed\n4DShot150\n5DShot300\n6DShot600\n7DShot1200\n\n\nRebootRequired: True\n\nMOT_PWM_MIN: PWM output minimum\nNote: This parameter is for advanced users\nThis sets the min PWM output value in microseconds that will ever be output to the motors\n\n\nUnits: PWM\n\n\nRange: 0 2000\n\n\nMOT_PWM_MAX: PWM output maximum\nNote: This parameter is for advanced users\nThis sets the max PWM value in microseconds that will ever be output to the motors\n\n\nUnits: PWM\n\n\nRange: 0 2000\n\n\nMOT_SPIN_MIN: Motor Spin minimum\nNote: This parameter is for advanced users\nPoint at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.\n\nValues: 0.0:Low,0.15:Default,0.3:High\n\nMOT_SPIN_ARM: Motor Spin armed\nNote: This parameter is for advanced users\nPoint at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.\n\nValues: 0.0:Low,0.1:Default,0.2:High\n\nMOT_BAT_CURR_TC: Motor Current Max Time Constant\nNote: This parameter is for advanced users\nTime constant used to limit the maximum current\n\n\nRange: 0 10\n\n\nUnits: s\n\n\nMOT_THST_HOVER: Thrust Hover Value\nNote: This parameter is for advanced users\nMotor thrust needed to hover expressed as a number from 0 to 1\n\nRange: 0.2 0.8\n\nMOT_HOVER_LEARN: Hover Value Learning\nNote: This parameter is for advanced users\nEnable/Disable automatic learning of hover throttle\nValueMeaning\n0Disabled\n\nMOT_SAFE_DISARM: Motor PWM output disabled when disarmed\nNote: This parameter is for advanced users\nDisables motor PWM output when disarmed\nValueMeaning\n0PWM enabled while disarmed\n1PWM disabled while disarmed\n\nMOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle\nYaw servo's maximum lean angle\n\n\nRange: 5 80\n\n\nUnits: deg\n\n\nIncrement: 1\n\n\nMOT_SPOOL_TIME: Spool up time\nNote: This parameter is for advanced users\nTime in seconds to spool up the motors from zero to min throttle. \n\n\nRange: 0 2\n\n\nUnits: s\n\n\nIncrement: 0.1\n\n\nMOT_BOOST_SCALE: Motor boost scale\nNote: This parameter is for advanced users\nBooster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.\n\n\nRange: 0 5\n\n\nIncrement: 0.1\n\n\nMOT_BAT_IDX: Battery compensation index\nNote: This parameter is for advanced users\nWhich battery monitor should be used for doing compensation\nValueMeaning\n0First battery\n1Second battery\n\nMOT_SLEW_UP_TIME: Output slew time for increasing throttle\nNote: This parameter is for advanced users\nTime in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.\n\n\nRange: 0 .5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMOT_SLEW_DN_TIME: Output slew time for decreasing throttle\nNote: This parameter is for advanced users\nTime in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.\n\n\nRange: 0 .5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.\nNote: This parameter is for advanced users\nTime taken to disable and enable the motor PWM output when disarmed and armed.\n\n\nRange: 0 5\n\n\nUnits: s\n\n\nIncrement: 0.001\n\n\nMSP Parameters\nMSP_OSD_NCELLS: Cell count override\nUsed for average cell voltage calculation\nValueMeaning\n0Auto\n11\n22\n33\n44\n55\n66\n77\n88\n99\n1010\n1111\n1212\n1313\n1414\n\nMSP_OPTIONS: MSP OSD Options\nA bitmask to set some MSP specific options\n\nBitmask: 0:EnableTelemetryMode\n\nNTF Parameters\nNTF_LED_BRIGHT: LED Brightness\nNote: This parameter is for advanced users\nSelect the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.\nValueMeaning\n0Off\n1Low\n2Medium\n3High\n\nNTF_BUZZ_TYPES: Buzzer Driver Types\nNote: This parameter is for advanced users\nControls what types of Buzzer will be enabled\n\nBitmask: 0:Built-in buzzer, 1:DShot, 2:UAVCAN\n\nNTF_LED_OVERRIDE: Specifies colour source for the RGBLed\nNote: This parameter is for advanced users\nSpecifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially \"Green\" is disarmed (safe-to-approach), \"Red\" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.\nValueMeaning\n0Standard\n1MAVLink/Scripting/AP_Periph\n2OutbackChallenge\n3TrafficLight\n\nNTF_DISPLAY_TYPE: Type of on-board I2C display\nNote: This parameter is for advanced users\nThis sets up the type of on-board I2C display. Disabled by default.\nValueMeaning\n0Disable\n1ssd1306\n2sh1106\n10SITL\n\nNTF_OREO_THEME: OreoLED Theme\nNote: This parameter is for advanced users\nEnable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme\nValueMeaning\n0Disabled\n1Aircraft\n2Rover\n\nNTF_BUZZ_PIN: Buzzer pin\nNote: This parameter is for advanced users\nEnables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!\nValueMeaning\n0Disabled\n\nNTF_LED_TYPES: LED Driver Types\nNote: This parameter is for advanced users\nControls what types of LEDs will be enabled\n\nBitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot\n\nNTF_BUZZ_ON_LVL: Buzzer-on pin logic level\nNote: This parameter is for advanced users\nSpecifies pin level that indicates buzzer should play\nValueMeaning\n0LowIsOn\n1HighIsOn\n\nNTF_BUZZ_VOLUME: Buzzer volume\nControl the volume of the buzzer\n\n\nRange: 0 100\n\n\nUnits: %\n\n\nNTF_LED_LEN: Serial LED String Length\nNote: This parameter is for advanced users\nThe number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)\n\n\nRange: 1 32\n\n\nRebootRequired: True\n\n\nPRX Parameters\nPRX_TYPE: Proximity type\nWhat type of proximity sensor is connected\nValueMeaning\n0None\n7LightwareSF40c\n1LightWareSF40C-legacy\n2MAVLink\n3TeraRangerTower\n4RangeFinder\n5RPLidarA2\n6TeraRangerTowerEvo\n8LightwareSF45B\n10SITL\n12AirSimSITL\n\n\nRebootRequired: True\n\nPRX_ORIENT: Proximity sensor orientation\nProximity sensor orientation\nValueMeaning\n0Default\n1Upside Down\n\nPRX_YAW_CORR: Proximity sensor yaw correction\nProximity sensor yaw correction\n\n\nUnits: deg\n\n\nRange: -180 180\n\n\nPRX_IGN_ANG1: Proximity sensor ignore angle 1\nProximity sensor ignore angle 1\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID1: Proximity sensor ignore width 1\nProximity sensor ignore width 1\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG2: Proximity sensor ignore angle 2\nProximity sensor ignore angle 2\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID2: Proximity sensor ignore width 2\nProximity sensor ignore width 2\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG3: Proximity sensor ignore angle 3\nProximity sensor ignore angle 3\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID3: Proximity sensor ignore width 3\nProximity sensor ignore width 3\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG4: Proximity sensor ignore angle 4\nProximity sensor ignore angle 4\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID4: Proximity sensor ignore width 4\nProximity sensor ignore width 4\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG5: Proximity sensor ignore angle 5\nProximity sensor ignore angle 5\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID5: Proximity sensor ignore width 5\nProximity sensor ignore width 5\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_IGN_ANG6: Proximity sensor ignore angle 6\nProximity sensor ignore angle 6\n\n\nUnits: deg\n\n\nRange: 0 360\n\n\nPRX_IGN_WID6: Proximity sensor ignore width 6\nProximity sensor ignore width 6\n\n\nUnits: deg\n\n\nRange: 0 127\n\n\nPRX_LOG_RAW: Proximity raw distances log\nNote: This parameter is for advanced users\nSet this parameter to one if logging unfiltered(raw) distances from sensor should be enabled\nValueMeaning\n0Off\n1On\n\nPRX_FILT: Proximity filter cutoff frequency\nNote: This parameter is for advanced users\nCutoff frequency for low pass filter applied to each face in the proximity boundary\n\n\nUnits: Hz\n\n\nRange: 0 20\n\n\nPSC Parameters\nPSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency\nNote: This parameter is for advanced users\nLower values will slow the response of the navigation controller and reduce twitchiness\n\n\nUnits: Hz\n\n\nRange: 0.5 5\n\n\nIncrement: 0.1\n\n\nPSC_POSZ_P: Position (vertical) controller P gain\nPosition (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller\n\nRange: 1.000 3.000\n\nPSC_VELZ_P: Velocity (vertical) controller P gain\nVelocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller\n\nRange: 1.000 8.000\n\nPSC_VELZ_I: Velocity (vertical) controller I gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration\n\n\nRange: 0.02 1.00\n\n\nIncrement: 0.01\n\n\nPSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum\nVelocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output\n\nRange: 1.000 8.000\n\nPSC_VELZ_D: Velocity (vertical) controller D gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller D gain. Corrects short-term changes in velocity\n\n\nRange: 0.00 1.00\n\n\nIncrement: 0.001\n\n\nPSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain\nNote: This parameter is for advanced users\nVelocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target\n\n\nRange: 0 1\n\n\nIncrement: 0.01\n\n\nPSC_VELZ_FLTE: Velocity (vertical) error filter\nNote: This parameter is for advanced users\nVelocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELZ_FLTD: Velocity (vertical) input filter for D term\nNote: This parameter is for advanced users\nVelocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_ACCZ_P: Acceleration (vertical) controller P gain\nAcceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output\n\n\nRange: 0.200 1.500\n\n\nIncrement: 0.05\n\n\nPSC_ACCZ_I: Acceleration (vertical) controller I gain\nAcceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration\n\nRange: 0.000 3.000\n\nPSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum\nAcceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate\n\n\nRange: 0 1000\n\n\nUnits: d%\n\n\nPSC_ACCZ_D: Acceleration (vertical) controller D gain\nAcceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration\n\nRange: 0.000 0.400\n\nPSC_ACCZ_FF: Acceleration (vertical) controller feed forward\nAcceleration (vertical) controller feed forward\n\n\nRange: 0 0.5\n\n\nIncrement: 0.001\n\n\nPSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz\nAcceleration (vertical) controller target frequency in Hz\n\n\nRange: 1 50\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz\nAcceleration (vertical) controller error frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz\nAcceleration (vertical) controller derivative frequency in Hz\n\n\nRange: 1 100\n\n\nIncrement: 1\n\n\nUnits: Hz\n\n\nPSC_ACCZ_SMAX: Accel (vertical) slew rate limit\nNote: This parameter is for advanced users\nSets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.\n\n\nRange: 0 200\n\n\nIncrement: 0.5\n\n\nPSC_POSXY_P: Position (horizontal) controller P gain\nPosition controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller\n\nRange: 0.500 2.000\n\nPSC_VELXY_P: Velocity (horizontal) P gain\nNote: This parameter is for advanced users\nVelocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration\n\n\nRange: 0.1 6.0\n\n\nIncrement: 0.1\n\n\nPSC_VELXY_I: Velocity (horizontal) I gain\nNote: This parameter is for advanced users\nVelocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration\n\n\nRange: 0.02 1.00\n\n\nIncrement: 0.01\n\n\nPSC_VELXY_D: Velocity (horizontal) D gain\nNote: This parameter is for advanced users\nVelocity (horizontal) D gain. Corrects short-term changes in velocity\n\n\nRange: 0.00 1.00\n\n\nIncrement: 0.001\n\n\nPSC_VELXY_IMAX: Velocity (horizontal) integrator maximum\nNote: This parameter is for advanced users\nVelocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output\n\n\nRange: 0 4500\n\n\nIncrement: 10\n\n\nUnits: cm/s/s\n\n\nPSC_VELXY_FLTE: Velocity (horizontal) input filter\nNote: This parameter is for advanced users\nVelocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELXY_FLTD: Velocity (horizontal) input filter\nNote: This parameter is for advanced users\nVelocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term\n\n\nRange: 0 100\n\n\nUnits: Hz\n\n\nPSC_VELXY_FF: Velocity (horizontal) feed forward gain\nNote: This parameter is for advanced users\nVelocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration\n\n\nRange: 0 6\n\n\nIncrement: 0.01\n\n\nPSC_ANGLE_MAX: Position Control Angle Max\nNote: This parameter is for advanced users\nMaximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value\n\n\nUnits: deg\n\n\nRange: 0 45\n\n\nIncrement: 1\n\n\nPSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping\nNote: This parameter is for advanced users\nJerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target\n\n\nUnits: m/s/s/s\n\n\nRange: 1 20\n\n\nIncrement: 1\n\n\nPSC_JERK_Z: Jerk limit for the vertical kinematic input shaping\nNote: This parameter is for advanced users\nJerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target\n\n\nUnits: m/s/s/s\n\n\nRange: 5 50\n\n\nIncrement: 1\n\n\nRALLY Parameters\nRALLY_TOTAL: Rally Total\nNote: This parameter is for advanced users\nNumber of rally points currently loaded\nRALLY_LIMIT_KM: Rally Limit\nNote: This parameter is for advanced users\nMaximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.\n\n\nUnits: km\n\n\nIncrement: 0.1\n\n\nRALLY_INCL_HOME: Rally Include Home\nControls if Home is included as a Rally point (i.e. as a safe landing place) for RTL\nValueMeaning\n0DoNotIncludeHome\n1IncludeHome\n\nRC Parameters\nRC_OVERRIDE_TIME: RC override timeout\nNote: This parameter is for advanced users\nTimeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled\n\n\nRange: 0.0 120.0\n\n\nUnits: s\n\n\nRC_OPTIONS: RC options\nNote: This parameter is for advanced users\nRC input options\n\nBitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection\n\nRC_PROTOCOLS: RC protocols enabled\nNote: This parameter is for advanced users\nBitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.\n\nBitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2\n\nRCn Parameters\nRCn_MIN: RC min PWM\nNote: This parameter is for advanced users\nRC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_TRIM: RC trim PWM\nNote: This parameter is for advanced users\nRC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_MAX: RC max PWM\nNote: This parameter is for advanced users\nRC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nRCn_REVERSED: RC reversed\nNote: This parameter is for advanced users\nReverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.\nValueMeaning\n0Normal\n1Reversed\n\nRCn_DZ: RC dead-zone\nNote: This parameter is for advanced users\nPWM dead zone in microseconds around trim or bottom\n\n\nUnits: PWM\n\n\nRange: 0 200\n\n\nRELAY Parameters\nRELAY_PIN: First Relay Pin\nDigital pin number for first relay control. This is the pin used for camera control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n27BBBMini Pin P8.17\n\nRELAY_PIN2: Second Relay Pin\nDigital pin number for 2nd relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n65BBBMini Pin P8.18\n\nRELAY_PIN3: Third Relay Pin\nDigital pin number for 3rd relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n22BBBMini Pin P8.19\n\nRELAY_PIN4: Fourth Relay Pin\nDigital pin number for 4th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n63BBBMini Pin P8.34\n\nRELAY_DEFAULT: Default relay state\nThe state of the relay on boot.\nValueMeaning\n0Off\n1On\n2NoChange\n\nRELAY_PIN5: Fifth Relay Pin\nDigital pin number for 5th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n62BBBMini Pin P8.13\n\nRELAY_PIN6: Sixth Relay Pin\nDigital pin number for 6th relay control.\nValueMeaning\n-1Disabled\n49BB Blue GP0 pin 4\n50AUXOUT1\n51AUXOUT2\n52AUXOUT3\n53AUXOUT4\n54AUXOUT5\n55AUXOUT6\n57BB Blue GP0 pin 3\n113BB Blue GP0 pin 6\n116BB Blue GP0 pin 5\n37BBBMini Pin P8.14\n\nRNGFNDn Parameters\nRNGFNDn_TYPE: Rangefinder type\nWhat type of rangefinder device that is connected\nValueMeaning\n0None\n1Analog\n2MaxbotixI2C\n3LidarLite-I2C\n5PWM\n6BBB-PRU\n7LightWareI2C\n8LightWareSerial\n9Bebop\n10MAVLink\n11uLanding\n12LeddarOne\n13MaxbotixSerial\n14TeraRangerI2C\n15LidarLiteV3-I2C\n16VL53L0X or VL53L1X\n17NMEA\n18WASP-LRF\n19BenewakeTF02\n20Benewake-Serial\n21LidarLightV3HP\n22PWM\n23BlueRoboticsPing\n24UAVCAN\n25BenewakeTFminiPlus-I2C\n26LanbaoPSK-CM8JL65-CC5\n27BenewakeTF03\n28VL53L1X-ShortRange\n29LeddarVu8-Serial\n30HC-SR04\n31GYUS42v2\n32MSP\n33USD1_CAN\n100SITL\n\nRNGFNDn_PIN: Rangefinder pin\nAnalog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input\nValueMeaning\n-1Not Used\n11PX4-airspeed port\n15Pixhawk-airspeed port\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n\nRNGFNDn_SCALING: Rangefinder scaling\nScaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.\n\n\nUnits: m/V\n\n\nIncrement: 0.001\n\n\nRNGFNDn_OFFSET: rangefinder offset\nOffset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars\n\n\nUnits: V\n\n\nIncrement: 0.001\n\n\nRNGFNDn_FUNCTION: Rangefinder function\nControl over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.\nValueMeaning\n0Linear\n1Inverted\n2Hyperbolic\n\nRNGFNDn_MIN_CM: Rangefinder minimum distance\nMinimum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDn_MAX_CM: Rangefinder maximum distance\nMaximum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDn_STOP_PIN: Rangefinder stop pin\nDigital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.\nValueMeaning\n-1Not Used\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n111PX4 FMU Relay1\n112PX4 FMU Relay2\n113PX4IO Relay1\n114PX4IO Relay2\n115PX4IO ACC1\n116PX4IO ACC2\n\nRNGFNDn_RMETRIC: Ratiometric\nThis parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.\nValueMeaning\n0No\n1Yes\n\nRNGFNDn_PWRRNG: Powersave range\nThis parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled\n\n\nUnits: m\n\n\nRange: 0 32767\n\n\nRNGFNDn_GNDCLEAR: Distance (in cm) from the range finder to the ground\nThis parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.\n\n\nUnits: cm\n\n\nRange: 5 127\n\n\nIncrement: 1\n\n\nRNGFNDn_ADDR: Bus address of sensor\nThis sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.\n\n\nRange: 0 127\n\n\nIncrement: 1\n\n\nRNGFNDn_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDn_ORIENT: Rangefinder orientation\nNote: This parameter is for advanced users\nOrientation of rangefinder\nValueMeaning\n0Forward\n1Forward-Right\n2Right\n3Back-Right\n4Back\n5Back-Left\n6Left\n7Forward-Left\n24Up\n25Down\n\nRNGFNDn_WSP_MAVG: Moving Average Range\nNote: This parameter is for advanced users\nSets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results\n\nRange: 0 255\n\nRNGFNDn_WSP_MEDF: Moving Median Filter\nNote: This parameter is for advanced users\nSets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active\n\nRange: 0 255\n\nRNGFNDn_WSP_FRQ: Frequency\nNote: This parameter is for advanced users\nSets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.\n\nRange: 0 10000\n\nRNGFNDn_WSP_AVG: Multi-pulse averages\nNote: This parameter is for advanced users\nSets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement\n\nRange: 0 255\n\nRNGFNDn_WSP_THR: Sensitivity threshold\nNote: This parameter is for advanced users\nSets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments\n\nRange: -1 255\n\nRNGFNDn_WSP_BAUD: Baud rate\nNote: This parameter is for advanced users\nDesired baud rate\nValueMeaning\n0Low Speed\n1High Speed\n\nRNGFNDA Parameters\nRNGFNDA_TYPE: Rangefinder type\nWhat type of rangefinder device that is connected\nValueMeaning\n0None\n1Analog\n2MaxbotixI2C\n3LidarLite-I2C\n5PWM\n6BBB-PRU\n7LightWareI2C\n8LightWareSerial\n9Bebop\n10MAVLink\n11uLanding\n12LeddarOne\n13MaxbotixSerial\n14TeraRangerI2C\n15LidarLiteV3-I2C\n16VL53L0X or VL53L1X\n17NMEA\n18WASP-LRF\n19BenewakeTF02\n20Benewake-Serial\n21LidarLightV3HP\n22PWM\n23BlueRoboticsPing\n24UAVCAN\n25BenewakeTFminiPlus-I2C\n26LanbaoPSK-CM8JL65-CC5\n27BenewakeTF03\n28VL53L1X-ShortRange\n29LeddarVu8-Serial\n30HC-SR04\n31GYUS42v2\n32MSP\n33USD1_CAN\n100SITL\n\nRNGFNDA_PIN: Rangefinder pin\nAnalog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input\nValueMeaning\n-1Not Used\n11PX4-airspeed port\n15Pixhawk-airspeed port\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n\nRNGFNDA_SCALING: Rangefinder scaling\nScaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.\n\n\nUnits: m/V\n\n\nIncrement: 0.001\n\n\nRNGFNDA_OFFSET: rangefinder offset\nOffset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars\n\n\nUnits: V\n\n\nIncrement: 0.001\n\n\nRNGFNDA_FUNCTION: Rangefinder function\nControl over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.\nValueMeaning\n0Linear\n1Inverted\n2Hyperbolic\n\nRNGFNDA_MIN_CM: Rangefinder minimum distance\nMinimum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDA_MAX_CM: Rangefinder maximum distance\nMaximum distance in centimeters that rangefinder can reliably read\n\n\nUnits: cm\n\n\nIncrement: 1\n\n\nRNGFNDA_STOP_PIN: Rangefinder stop pin\nDigital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.\nValueMeaning\n-1Not Used\n50Pixhawk AUXOUT1\n51Pixhawk AUXOUT2\n52Pixhawk AUXOUT3\n53Pixhawk AUXOUT4\n54Pixhawk AUXOUT5\n55Pixhawk AUXOUT6\n111PX4 FMU Relay1\n112PX4 FMU Relay2\n113PX4IO Relay1\n114PX4IO Relay2\n115PX4IO ACC1\n116PX4IO ACC2\n\nRNGFNDA_RMETRIC: Ratiometric\nThis parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.\nValueMeaning\n0No\n1Yes\n\nRNGFNDA_PWRRNG: Powersave range\nThis parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled\n\n\nUnits: m\n\n\nRange: 0 32767\n\n\nRNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground\nThis parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.\n\n\nUnits: cm\n\n\nRange: 5 127\n\n\nIncrement: 1\n\n\nRNGFNDA_ADDR: Bus address of sensor\nThis sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.\n\n\nRange: 0 127\n\n\nIncrement: 1\n\n\nRNGFNDA_POS_X: X position offset\nNote: This parameter is for advanced users\nX position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_POS_Y: Y position offset\nNote: This parameter is for advanced users\nY position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_POS_Z: Z position offset\nNote: This parameter is for advanced users\nZ position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nRNGFNDA_ORIENT: Rangefinder orientation\nNote: This parameter is for advanced users\nOrientation of rangefinder\nValueMeaning\n0Forward\n1Forward-Right\n2Right\n3Back-Right\n4Back\n5Back-Left\n6Left\n7Forward-Left\n24Up\n25Down\n\nRNGFNDA_WSP_MAVG: Moving Average Range\nNote: This parameter is for advanced users\nSets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results\n\nRange: 0 255\n\nRNGFNDA_WSP_MEDF: Moving Median Filter\nNote: This parameter is for advanced users\nSets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active\n\nRange: 0 255\n\nRNGFNDA_WSP_FRQ: Frequency\nNote: This parameter is for advanced users\nSets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.\n\nRange: 0 10000\n\nRNGFNDA_WSP_AVG: Multi-pulse averages\nNote: This parameter is for advanced users\nSets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement\n\nRange: 0 255\n\nRNGFNDA_WSP_THR: Sensitivity threshold\nNote: This parameter is for advanced users\nSets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments\n\nRange: -1 255\n\nRNGFNDA_WSP_BAUD: Baud rate\nNote: This parameter is for advanced users\nDesired baud rate\nValueMeaning\n0Low Speed\n1High Speed\n\nRPM Parameters\nRPM_TYPE: RPM type\nWhat type of RPM sensor is connected\nValueMeaning\n0None\n1PWM\n2AUXPIN\n3EFI\n4Harmonic Notch\n\nRPM_SCALING: RPM scaling\nScaling factor between sensor reading and RPM.\n\nIncrement: 0.001\n\nRPM_MAX: Maximum RPM\nMaximum RPM to report\n\nIncrement: 1\n\nRPM_MIN: Minimum RPM\nMinimum RPM to report\n\nIncrement: 1\n\nRPM_MIN_QUAL: Minimum Quality\nNote: This parameter is for advanced users\nMinimum data quality to be used\n\nIncrement: 0.1\n\nRPM_PIN: Input pin number\nWhich pin to use\nValueMeaning\n-1Disabled\n50PixhawkAUX1\n51PixhawkAUX2\n52PixhawkAUX3\n53PixhawkAUX4\n54PixhawkAUX5\n55PixhawkAUX6\n\nRPM2_TYPE: Second RPM type\nNote: This parameter is for advanced users\nWhat type of RPM sensor is connected\nValueMeaning\n0None\n1PWM\n2AUXPIN\n3EFI\n4Harmonic Notch\n\nRPM2_SCALING: RPM scaling\nNote: This parameter is for advanced users\nScaling factor between sensor reading and RPM.\n\nIncrement: 0.001\n\nRPM2_PIN: RPM2 input pin number\nWhich pin to use\nValueMeaning\n-1Disabled\n50PixhawkAUX1\n51PixhawkAUX2\n52PixhawkAUX3\n53PixhawkAUX4\n54PixhawkAUX5\n55PixhawkAUX6\n\nSCHED Parameters\nSCHED_DEBUG: Scheduler debug level\nNote: This parameter is for advanced users\nSet to non-zero to enable scheduler debug messages. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.\nValueMeaning\n0Disabled\n2ShowSlips\n3ShowOverruns\n\nSCHED_LOOP_RATE: Scheduling main loop rate\nNote: This parameter is for advanced users\nThis controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.\nValueMeaning\n5050Hz\n100100Hz\n200200Hz\n250250Hz\n300300Hz\n400400Hz\n\n\nRebootRequired: True\n\nSCHED_OPTIONS: Scheduling options\nNote: This parameter is for advanced users\nThis controls optional aspects of the scheduler.\n\nBitmask: 0:Enable per-task perf info\n\nSCR Parameters\nSCR_ENABLE: Enable Scripting\nNote: This parameter is for advanced users\nControls if scripting is enabled\nValueMeaning\n0None\n1Lua Scripts\n\n\nRebootRequired: True\n\nSCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count\nNote: This parameter is for advanced users\nThe number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time\n\n\nRange: 1000 1000000\n\n\nIncrement: 10000\n\n\nSCR_HEAP_SIZE: Scripting Heap Size\nNote: This parameter is for advanced users\nAmount of memory available for scripting\n\n\nRange: 1024 1048576\n\n\nIncrement: 1024\n\n\nRebootRequired: True\n\n\nSCR_DEBUG_LVL: Scripting Debug Level\nNote: This parameter is for advanced users\nThe higher the number the more verbose builtin scripting debug will be.\nSCR_USER1: Scripting User Parameter1\nGeneral purpose user variable input for scripts\nSCR_USER2: Scripting User Parameter2\nGeneral purpose user variable input for scripts\nSCR_USER3: Scripting User Parameter3\nGeneral purpose user variable input for scripts\nSCR_USER4: Scripting User Parameter4\nGeneral purpose user variable input for scripts\nSCR_DIR_DISABLE: Directory disable\nNote: This parameter is for advanced users\nThis will stop scripts being loaded from the given locations\n\n\nBitmask: 0:ROMFS, 1:APM/scripts\n\n\nRebootRequired: True\n\n\nSERIAL Parameters\nSERIAL0_BAUD: Serial0 baud rate\nThe baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL0_PROTOCOL: Console protocol selection\nControl what protocol to use on the console. \nValueMeaning\n1MAVlink1\n2MAVLink2\n\n\nRebootRequired: True\n\nSERIAL1_PROTOCOL: Telem1 protocol selection\nControl what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL1_BAUD: Telem1 Baud Rate\nThe baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL2_PROTOCOL: Telemetry 2 protocol selection\nControl what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL2_BAUD: Telemetry 2 Baud Rate\nThe baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection\nControl what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL3_BAUD: Serial 3 (GPS) Baud Rate\nThe baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL4_PROTOCOL: Serial4 protocol selection\nControl what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL4_BAUD: Serial 4 Baud Rate\nThe baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL5_PROTOCOL: Serial5 protocol selection\nControl what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL5_BAUD: Serial 5 Baud Rate\nThe baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL6_PROTOCOL: Serial6 protocol selection\nControl what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL6_BAUD: Serial 6 Baud Rate\nThe baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL1_OPTIONS: Telem1 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL2_OPTIONS: Telem2 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL3_OPTIONS: Serial3 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL4_OPTIONS: Serial4 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL5_OPTIONS: Serial5 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL6_OPTIONS: Serial6 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL_PASS1: Serial passthru first port\nNote: This parameter is for advanced users\nThis sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nSERIAL_PASS2: Serial passthru second port\nNote: This parameter is for advanced users\nThis sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port\nValueMeaning\n-1Disabled\n0Serial0\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n6Serial6\n\nSERIAL_PASSTIMO: Serial passthru timeout\nNote: This parameter is for advanced users\nThis sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.\n\n\nRange: 0 120\n\n\nUnits: s\n\n\nSERIAL7_PROTOCOL: Serial7 protocol selection\nControl what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL7_BAUD: Serial 7 Baud Rate\nThe baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL7_OPTIONS: Serial7 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERIAL8_PROTOCOL: Serial8 protocol selection\nControl what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.\nValueMeaning\n-1None\n1MAVLink1\n2MAVLink2\n3Frsky D\n4Frsky SPort\n5GPS\n7Alexmos Gimbal Serial\n8SToRM32 Gimbal Serial\n9Rangefinder\n10FrSky SPort Passthrough (OpenTX)\n11Lidar360\n13Beacon\n14Volz servo out\n15SBus servo out\n16ESC Telemetry\n17Devo Telemetry\n18OpticalFlow\n19RobotisServo\n20NMEA Output\n21WindVane\n22SLCAN\n23RCIN\n24MegaSquirt EFI\n25LTM\n26RunCam\n27HottTelem\n28Scripting\n29Crossfire\n30Generator\n31Winch\n32MSP\n33DJI FPV\n34AirSpeed\n35ADSB\n36AHRS\n37SmartAudio\n38FETtecOneWire\n\n\nRebootRequired: True\n\nSERIAL8_BAUD: Serial 8 Baud Rate\nThe baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.\nValueMeaning\n11200\n22400\n44800\n99600\n1919200\n3838400\n5757600\n111111100\n115115200\n230230400\n256256000\n460460800\n500500000\n921921600\n15001500000\n\nSERIAL8_OPTIONS: Serial8 options\nNote: This parameter is for advanced users\nControl over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.\n\n\nBitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:Swap, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO\n\n\nRebootRequired: True\n\n\nSERVO Parameters\nSERVO_RATE: Servo default output rate\nNote: This parameter is for advanced users\nThis sets the default output rate in Hz for all outputs.\n\n\nRange: 25 400\n\n\nUnits: Hz\n\n\nSERVO_DSHOT_RATE: Servo DShot output rate\nNote: This parameter is for advanced users\nThis sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.\nValueMeaning\n01Khz\n1loop-rate\n2double loop-rate\n3triple loop-rate\n4quadruple loop rate\n\nSERVO_DSHOT_ESC: Servo DShot ESC type\nNote: This parameter is for advanced users\nThis sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.\nValueMeaning\n0None\n1BLHeli32/BLHeli_S/Kiss\n\nSERVOn Parameters\nSERVOn_MIN: Minimum PWM\nminimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 500 2200\n\n\nIncrement: 1\n\n\nSERVOn_MAX: Maximum PWM\nmaximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nSERVOn_TRIM: Trim PWM\nTrim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.\n\n\nUnits: PWM\n\n\nRange: 800 2200\n\n\nIncrement: 1\n\n\nSERVOn_REVERSED: Servo reverse\nReverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.\nValueMeaning\n0Normal\n1Reversed\n\nSERVOn_FUNCTION: Servo output function\nFunction assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function\nValueMeaning\n0Disabled\n1RCPassThru\n2Flap\n3FlapAuto\n4Aileron\n6MountPan\n7MountTilt\n8MountRoll\n9MountOpen\n10CameraTrigger\n12Mount2Pan\n13Mount2Tilt\n14Mount2Roll\n15Mount2Open\n16DifferentialSpoilerLeft1\n17DifferentialSpoilerRight1\n19Elevator\n21Rudder\n22SprayerPump\n23SprayerSpinner\n24FlaperonLeft\n25FlaperonRight\n26GroundSteering\n27Parachute\n28Gripper\n29LandingGear\n30EngineRunEnable\n31HeliRSC\n32HeliTailRSC\n33Motor1\n34Motor2\n35Motor3\n36Motor4\n37Motor5\n38Motor6\n39Motor7\n40Motor8\n41TiltMotorsFront\n45TiltMotorsRear\n46TiltMotorRearLeft\n47TiltMotorRearRight\n51RCIN1\n52RCIN2\n53RCIN3\n54RCIN4\n55RCIN5\n56RCIN6\n57RCIN7\n58RCIN8\n59RCIN9\n60RCIN10\n61RCIN11\n62RCIN12\n63RCIN13\n64RCIN14\n65RCIN15\n66RCIN16\n67Ignition\n69Starter\n70Throttle\n71TrackerYaw\n72TrackerPitch\n73ThrottleLeft\n74ThrottleRight\n75TiltMotorFrontLeft\n76TiltMotorFrontRight\n77ElevonLeft\n78ElevonRight\n79VTailLeft\n80VTailRight\n81BoostThrottle\n82Motor9\n83Motor10\n84Motor11\n85Motor12\n86DifferentialSpoilerLeft2\n87DifferentialSpoilerRight2\n88Winch\n89Main Sail\n90CameraISO\n91CameraAperture\n92CameraFocus\n93CameraShutterSpeed\n94Script1\n95Script2\n96Script3\n97Script4\n98Script5\n99Script6\n100Script7\n101Script8\n102Script9\n103Script10\n104Script11\n105Script12\n106Script13\n107Script14\n108Script15\n109Script16\n120NeoPixel1\n121NeoPixel2\n122NeoPixel3\n123NeoPixel4\n124RateRoll\n125RatePitch\n126RateThrust\n127RateYaw\n128WingSailElevator\n129ProfiLED1\n130ProfiLED2\n131ProfiLED3\n132ProfiLEDClock\n133Winch Clutch\n134SERVOn_MIN\n135SERVOn_TRIM\n136SERVOn_MAX\n137SailMastRotation\n\nSERVOBLH Parameters\nSERVO_BLH_MASK: BLHeli Channel Bitmask\nNote: This parameter is for advanced users\nEnable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors\nIf set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors\nValueMeaning\n0Disabled\n1Enabled\n\nSERVO_BLH_TEST: BLHeli internal interface test\nNote: This parameter is for advanced users\nSetting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.\nValueMeaning\n0Disabled\n1TestMotor1\n2TestMotor2\n3TestMotor3\n4TestMotor4\n5TestMotor5\n6TestMotor6\n7TestMotor7\n8TestMotor8\n\nSERVO_BLH_TMOUT: BLHeli protocol timeout\nThis sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout\n\n\nUnits: s\n\n\nRange: 0 300\n\n\nSERVO_BLH_TRATE: BLHeli telemetry rate\nThis sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests\n\n\nUnits: Hz\n\n\nRange: 0 500\n\n\nSERVO_BLH_DEBUG: BLHeli debug level\nWhen set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.\nValueMeaning\n0Disabled\n1Enabled\n\nSERVO_BLH_OTYPE: BLHeli output type override\nNote: This parameter is for advanced users\nWhen set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.\nValueMeaning\n0None\n1OneShot\n2OneShot125\n3Brushed\n4DShot150\n5DShot300\n6DShot600\n7DShot1200\n\nSERVO_BLH_PORT: Control port\nNote: This parameter is for advanced users\nThis sets the serial port to use for blheli pass-thru\nValueMeaning\n0Console\n1Serial1\n2Serial2\n3Serial3\n4Serial4\n5Serial5\n\nSERVO_BLH_POLES: BLHeli Motor Poles\nNote: This parameter is for advanced users\nThis allows calculation of true RPM from ESC's eRPM. The default is 14.\n\nRange: 1 127\n\nSERVO_BLH_3DMASK: BLHeli bitmask of 3D channels\nNote: This parameter is for advanced users\nMask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels\nNote: This parameter is for advanced users\nMask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVO_BLH_RVMASK: BLHeli bitmask of reversed channels\nNote: This parameter is for advanced users\nMask of channels which are reversed. This is used to configure ESCs in reversed mode\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSERVOFTW Parameters\nSERVO_FTW_MASK: Servo channel output bitmask\nServo channel mask specifying FETtec ESC output.\n\n\nBitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12\n\n\nRebootRequired: True\n\n\nSERVO_FTW_RVMASK: Servo channel reverse rotation bitmask\nServo channel mask to reverse rotation of FETtec ESC outputs.\n\nBitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12\n\nSERVO_FTW_POLES: Nr. electrical poles\nNumber of motor electrical poles\n\nRange: 2 50\n\nSERVOROB Parameters\nSERVO_ROB_POSMIN: Robotis servo position min\nPosition minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095\n\nRange: 0 4095\n\nSERVO_ROB_POSMAX: Robotis servo position max\nPosition maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095\n\nRange: 0 4095\n\nSERVOSBUS Parameters\nSERVO_SBUS_RATE: SBUS default output rate\nNote: This parameter is for advanced users\nThis sets the SBUS output frame rate in Hz.\n\n\nRange: 25 250\n\n\nUnits: Hz\n\n\nSERVOVOLZ Parameters\nSERVO_VOLZ_MASK: Channel Bitmask\nEnable of volz servo protocol to specific channels\n\nBitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16\n\nSRn Parameters\nSRn_RAW_SENS: Raw sensor stream rate\nNote: This parameter is for advanced users\nStream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXT_STAT: Extended status stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_RC_CHAN: RC Channel stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_POSITION: Position stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of GLOBAL_POSITION_INT to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA1: Extra data type 1 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of ATTITUDE and SIMSTATE (SITL only) to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA2: Extra data type 2 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of VFR_HUD to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_EXTRA3: Extra data type 3 stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nSRn_PARAMS: Parameter stream rate to ground station\nNote: This parameter is for advanced users\nStream rate of PARAM_VALUE to ground station\n\n\nUnits: Hz\n\n\nRange: 0 50\n\n\nIncrement: 1\n\n\nVISO Parameters\nVISO_TYPE: Visual odometry camera connection type\nNote: This parameter is for advanced users\nVisual odometry camera connection type\nValueMeaning\n0None\n1MAVLink\n2IntelT265\n\n\nRebootRequired: True\n\nVISO_POS_X: Visual odometry camera X position offset\nNote: This parameter is for advanced users\nX position of the camera in body frame. Positive X is forward of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_POS_Y: Visual odometry camera Y position offset\nNote: This parameter is for advanced users\nY position of the camera in body frame. Positive Y is to the right of the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_POS_Z: Visual odometry camera Z position offset\nNote: This parameter is for advanced users\nZ position of the camera in body frame. Positive Z is down from the origin.\n\n\nUnits: m\n\n\nRange: -5 5\n\n\nIncrement: 0.01\n\n\nVISO_ORIENT: Visual odometery camera orientation\nNote: This parameter is for advanced users\nVisual odometery camera orientation\nValueMeaning\n0Forward\n2Right\n4Back\n6Left\n24Up\n25Down\n\nVISO_SCALE: Visual odometry scaling factor\nNote: This parameter is for advanced users\nVisual odometry scaling factor applied to position estimates from sensor\nVISO_DELAY_MS: Visual odometry sensor delay\nNote: This parameter is for advanced users\nVisual odometry sensor delay relative to inertial measurements\n\n\nUnits: ms\n\n\nRange: 0 250\n\n\nVISO_VEL_M_NSE: Visual odometry velocity measurement noise\nNote: This parameter is for advanced users\nVisual odometry velocity measurement noise in m/s\n\n\nUnits: m/s\n\n\nRange: 0.05 5.0\n\n\nVISO_POS_M_NSE: Visual odometry position measurement noise\nNote: This parameter is for advanced users\nVisual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)\n\n\nUnits: m\n\n\nRange: 0.1 10.0\n\n\nVISO_YAW_M_NSE: Visual odometry yaw measurement noise\nNote: This parameter is for advanced users\nVisual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)\n\n\nUnits: rad\n\n\nRange: 0.05 1.0\n\n\nVTX Parameters\nVTX_ENABLE: Is the Video Transmitter enabled or not\nToggles the Video Transmitter on and off\nValueMeaning\n0Disable\n1Enable\n\nVTX_POWER: Video Transmitter Power Level\nVideo Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level\n\nRange: 1 1000\n\nVTX_CHANNEL: Video Transmitter Channel\nVideo Transmitter Channel\n\nRange: 0 7\n\nVTX_BAND: Video Transmitter Band\nVideo Transmitter Band\nValueMeaning\n0Band A\n1Band B\n2Band E\n3Airwave\n4RaceBand\n5Low RaceBand\n\nVTX_FREQ: Video Transmitter Frequency\nVideo Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL\n\n\nReadOnly: True\n\n\nRange: 5000 6000\n\n\nVTX_OPTIONS: Video Transmitter Options\nNote: This parameter is for advanced users\nVideo Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels.\n\nBitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests\n\nVTX_MAX_POWER: Video Transmitter Max Power Level\nVideo Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.\n\nRange: 25 1000\n\nWPNAV Parameters\nWPNAV_SPEED: Waypoint Horizontal Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 20 2000\n\n\nIncrement: 50\n\n\nWPNAV_RADIUS: Waypoint Radius\nDefines the distance from a waypoint, that when crossed indicates the wp has been hit.\n\n\nUnits: cm\n\n\nRange: 5 1000\n\n\nIncrement: 1\n\n\nWPNAV_SPEED_UP: Waypoint Climb Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 10 1000\n\n\nIncrement: 50\n\n\nWPNAV_SPEED_DN: Waypoint Descent Speed Target\nDefines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission\n\n\nUnits: cm/s\n\n\nRange: 10 500\n\n\nIncrement: 10\n\n\nWPNAV_ACCEL: Waypoint Acceleration\nDefines the horizontal acceleration in cm/s/s used during missions\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nWPNAV_ACCEL_Z: Waypoint Vertical Acceleration\nDefines the vertical acceleration in cm/s/s used during missions\n\n\nUnits: cm/s/s\n\n\nRange: 50 500\n\n\nIncrement: 10\n\n\nWPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following\nNote: This parameter is for advanced users\nThis controls if waypoint missions use rangefinder for terrain following\nValueMeaning\n0Disable\n1Enable\n\nWPNAV_JERK: Waypoint Jerk\nDefines the horizontal jerk in m/s/s used during missions\n\n\nUnits: m/s/s/s\n\n\nRange: 1 20\n\n\nWPNAV_TER_MARGIN: Waypoint Terrain following altitude margin\nNote: This parameter is for advanced users\nWaypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)\n\n\nUnits: m\n\n\nRange: 0.1 100\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/","path":"/software/autopilot/ArduSub-4.1/developers/parameters/","title":"Parameters"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/","path":"/software/control-station/","title":"Control Station"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/","path":"/software/control-station/Cockpit-1.0/","title":"Cockpit"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/":{"body":"Display Breakdown\n\n\n\nHeader Bar\nThe header bar consists of the following main elements:\nBurger Menu\nClicking on the burger menu (in the top left of the screen) provides access to various \nconfiguration options:\n\n\n\nMission Name\nIt is possible to set a display name for the current mission/operation from beside the burger menu.\nA default mission name is randomly selected each time Cockpit is opened/restarted. The default names are not\nused for saving files/recordings, but modified names are. While modifying the mission name it is possible\nto restore the previous name (e.g. if you change you mind or make a mistake).\n\n\n\nAlerts\nAlerts received from the autopilot (STATUSTEXT), as\nwell as application notifications (like loss of connection to the vehicle) are displayed in the central alerts\npane, which can be hovered over to access a scrollable history of alerts:\n\n\n\nSome alerts can be read aloud on arrival using text to speech technology, which can be configured.\nMini Widget Container\nWhen space is available, mini widgets can be placed on the right side of the alerts display.\nDate\nThe current time and date is displayed in the top right corner.\nEdit Mode\nCockpit's interface consists of a configurable widget system, with\n\nProfiles\n\nfor supporting different operators and/or vehicle types\ncan be added/removed/duplicated, saved and loaded (to/from both the vehicle and the display device),\nand switched between in edit mode\n\n\nViews (within each profile)\n\nfor handling different operation modes / targets within a mission\ncan be added/removed/duplicated, saved and loaded to/from the display device, and\ndynamically switched between during operation\n\n\nWidgets (within each view)\n\nfor advanced information display and vehicle control\ncan be added/removed, placed in arbitrary locations, and resized\n\n\nMini-widgets (within mini-widget bar widgets)\n\nfor basic information display and vehicle/interface control\ncan be added/removed, reordered within widget bars, and moved between them\n\n\n\n\n\n\nProfiles\nA \"profile\" is a collection of views that are relevant to a particular use-case or operator.\nIf one control station computer is used by multiple operators (e.g. within the same organisation)\nat different times then it could be useful for each operator to have their preferred interface saved on\nthat computer, and they can switch to their profile when they open up Cockpit.\nAlternatively, if the same control station computer is used to control different types of vehicles\n(e.g. a boat, an underwater ROV, and a drone) then the operator can load the appropriate vehicle control\ninterface when they connect to a different vehicle type. It will soon be possible to store and load\nprofiles from the vehicle itself, instead of only on the control station computer, which makes it easier\nto connect a different control computer to a vehicle and load the familiar control profiles for that vehicle.\nDefault Profiles\nCockpit includes default profiles for submarine and boat use-cases. It is possible to restore to these\n(as a known reasonable interface) in case something goes wrong with your custom profiles, but be aware\nthat the defaults may change between different Cockpit versions, so may end up restoring to an interface\nyou haven't seen before.\nProfile Configuration\n\nOpen edit mode (via the burger menu\nSelect a custom/user profile to edit, and/or create, import, or remove profiles as desired\n\nProfiles can be renamed by clicking on the settings cog icon, or duplicated via the copy icon\nAdditional profiles can be imported from the display device or the connected vehicle\n\nOpening Cockpit on a new device will automatically try to load profiles from the vehicle\nIf the browser already has Cockpit profiles stored, it will not try to load any from the\nvehicle unless the import from vehicle button is clicked\n\n\nThe set of available profiles can be stored onto the vehicle, or reset/restored to the defaults\n\nStoring profiles onto the vehicle overwrites those that may already be there\n\n\nThe \"Views\" list shows the views that are available within the selected profile\n\n\n\nViews\nA \"view\" is like a page that widgets can be displayed in. It is possible to configure multiple\nseparate views and switch between them during operation, which is useful if you have different interface\npreferences for when you're performing different operations.\nAs an example, you may have one view tailored to general navigation, and another that's designed around\ninspections. The first view could then be used while getting the vehicle to the inspection site, and then\nthe second view can be switched to once it's time to actually perform the inspection.\nIt is possible for different devices or browser instances to access Cockpit at the same time (e.g. using\nseparate browser profiles, or one display in incognito mode, but currently not multiple tabs of the same\nbrowser instance), with their views configured independently. To use the same component layouts across\ninstances you can export the desired view(s) from one and import into the other(s).\nMultiple simultaneous tabs from the same browser instance will be supported in future.\nConfiguration\n\nOpen edit mode via the burger menu\nSelect a view to edit, and/or create or remove views as desired\n\nViews can be imported from an external file, or exported to a file for sharing\nClicking on the cog settings icon allows renaming a view, and determining whether the footer bar is\nshown or hidden/docked when Cockpit boots\n\nIt is always possible to toggle the current footer bar visibility using\nCockpit Actions (e.g. via a joystick button)\n\n\n\n\n\n\n\n\n\nThe \"Current widgets\" list allows\n\ndragging the widgets in the current view to reorder which widget is on top\n\nThis helps for use-cases like overlaying a HUD element on a video display\n\n\nremoving an existing widget from the current view\nresizing a widget to fill the entire view\n\n\nNew widgets can be added via the bottom section\n\nClicking on a regular widget adds it to the view, after which it can be positioned and resized as desired\nMini widgets have fixed sizes, but can be dragged and dropped into the desired location in the header/footer\nbars or in a custom mini widget bar\nThe selector in the bottom left can be used to choose between editing regular or mini widgets\n\n\nSome widgets can be configured, by clicking the cog settings icon in the \"Current widgets\" list\n\nThere are currently cog icons for all widgets,\nso if you click a cog icon and nothing happens it means that widget is not configurable\n\n\n\nWidgets\nThere are several types of widgets available, and in future it will be possible to create, import, and use custom widgets as well.\nRegular Widgets\nAttitude HUD\nThe attitude HUD widget displays the vehicle's pitch and roll as a heads-up display overlay:\n\n\n\nIt is possible to configure which components get displayed, as well as the line colour:\n\n\n\nVirtual Horizon\nThe virtual horizon widget displays the vehicle's pitch and roll as though on the gauge in a plane:\n\n\n\nIt is most useful for guided and/or autonomous control, where the main display is of the vehicle's position.\nCompass\nThe compass widget displays the vehicle's orientation as though looking at a compass in your hand:\n\n\n\nIt is most useful for guided and/or autonomous control, where the main display is of the vehicle's position.\nIt is possible to configure the vertical direction to be fixed to North (\"North-up\") or to the vehicle's \nforwards direction (\"head-up\").\n\n\n\nCompass HUD\nThe compass HUD is a first-person compass view, as though inside a compass and looking in the direction the\nvehicle is pointing (its heading):\n\n\n\nIt is possible to configure whether the exact heading angle is shown, whether to use a -180 to +180° range\n(default is 0 to 360°), and the colour of the lines:\n\n\n\nDepth HUD\nThe depth HUD indicates the vehicle's current depth as determined by its external pressure sensor:\n\n\n\nThis is primarily useful for underwater vehicles.\nConfiguration determines whether the exact depth value is shown, and the colour of the lines:\n\n\n\nIFrame\nThe iframe widget provides an inline frame that can display another HTML page within the Cockpit interface.\nThis is particularly useful for showing the interfaces and displays of BlueOS Extensions (e.g. for a sonar viewer):\n\n\n\nConfiguration determines the URL to fetch the page from, as well as the overall transparency of the iframe:\n\n\n\nImage Viewer\nThe image viewer widget shows an image that is accessible to the control station computer via its network.\n\n\n\nImages from the internet can be included (e.g. a logo for branding) as long as the computer has internet\naccess when Cockpit is started.\nThis is most useful for images hosted on the local network, and was designed to display the output of a\nself-replacing mjpeg like from an ESP32-Cam. It could also display images hosted by a\nBlueOS Extension.\nMap\nFor vehicles with a positioning system, the map widget displays the \nregistered home location and the vehicle's\ncurrent position, with an option to track\nthe vehicle's path over time.\nThere are buttons to \n\nmove the map to follow the registered 'home' location\n\nthis may move around if the control station computer is on a boat\n\n\nmove the map to follow the vehicle's current position\ndownload the current mission from the vehicle, and display it on the map\nexecute the mission that is on the vehicle\n\n\n\n\n\n\n\nIn future it will be possible to set the current vehicle position, and click to guide the vehicle to new\npositions.\nVideo Player\nThe video player widget displays an available WebRTC video stream. BlueOS uses the \nMAVLink Camera Manager to automatically create a WebRTC \nstream for applicable video streams.\n\n\n\nMultiple video widgets can be added to display different video streams.\nConfiguration allows selecting which video stream to display, flipping the stream image, and choosing how\nthe frames should fit within the widget:\n\ncover: maintains the video aspect ratio, but expands the frames to fully cover the widget, and crops\noff the sides or top+bottom if they extend beyond the widget boundaries\nfill: stretches the frames so that all sides are against the corresponding widget boundary\ncontain: maintains the video aspect ratio, but shrinks the frames to fully fit inside the widget,\nadding transparent padding at the sides / above+below as necessary\n\n\n\n\nIt is also possible to select the video source IP, which is recommended especially if there are multiple\navailable connection routes (e.g. if there is a wired route through a tether, as well as a wireless connection,\nyou should select the tether IP and remove the wireless one to avoid video stuttering from transmission over wifi).\nA warning is provided when multiple routes are available:\n\n\n\nVideo recording is possible using a mini widget, and directly records the incoming stream\n(not the scaled and cropped display of the widget). Cockpit can be configured to \nlog some telemetry values, and record them as a subtitle file for convenient video playback:\n\n\n\nURL Video Player\nThe URL video player widget displays a video from a URL. This is useful for testing IP cameras that are not\nbeing redirected via BlueOS, but can also be used to display online videos if that is for some reason relevant.\n\n\n\nConfiguration allows selecting which URL to stream a video from, as well as options for whether to play the\nvideo automatically, whether it should loop when complete, whether it should play sound or be muted, whether\nplayback controls should be exposed, and choosing how the video frames should fit within the widget (as\ndescribed in Video Player.\n\n\n\nMini Widget Bar\nThe mini widget bar widget is a rectangular container for storing mini widgets.\n\n\n\nMini Widgets\nMini widgets are small, generally single-function widgets that can be drag-positioned in the\nheader bar, footer bar, or any mini widget bar.\nThey are editable by selecting \"Mini Widgets\" in the bottom left corner of edit mode, then either\ndragging a new mini-widget (from those available along the bottom of the screen) into a\nmini-widget bar, or configuring or removing one from the \"current mini-widgets\"\nlist in the bottom left corner.\nThe current options include\n\nArm/Disarm toggle switch\nVehicle connection status indicator\nPower / battery indicator\nDepth indicator\n(Relative) altitude indicator\nVery generic indicator\n\nconfiguring this allows selecting which vehicle variable to track, out of\nany that have been received so far (including custom ones)\nonly variables coming from Ardupilot vehicles are currently supported\navailable variables include those comming from NAMED_VALUE_FLOAT/INT messages as well\nas any variable that is inside any MAVLink message\nseveral pre-made presets are available for usage with common variables\nit is also possible to specify a display unit, a value multiplier, an icon, the number of\ndigits after the decimal place and a custom display name\n\n\n\n\n\n\n\n\n\n\nVideo recorder\n\nallows recording one of the available WebRTC streams, or the full Cockpit tab\nrecording occurs in the browser of the display device (not onboard the vehicle)\n\nthis is currently stored in memory and downloaded to the device when finished, which may limit\nmaximum time for individual recordings\n\n\nrecordings are saved using the mission name and the starting timestamp\na warning is displayed if Cockpit is closed while a video is recording, and a recovery popup\nappears when Cockpit is next opened in that browser / on that device\n\n\n\n\n\n\n\n\n\n\n\n\n\nJoystick connection status indicator\nFlight mode selector\nGPS status indicator\nView selector\nTakeoff/land button\n\nConfiguration\nCockpit's behaviour can be configured via the burger menu, with the following tabs:\nGeneral\nConnection configuration allows specifying custom endpoint addresses for Cockpit to communicate with.\nWhen Cockpit is hosted by a vehicle running BlueOS these are usually correct by default, but if using\nit standalone or connecting to some external services it may be necessary to specify different\naddresses, and refresh the page to establish the desired connection.\n\n\n\nJoysticks\nCockpit is intended to work with arbitrary joystick types, and allows mapping joystick buttons and axes to\nvarious protocol functions, which can send inputs and commands to the vehicle, or trigger\ninterface events. Once a function mapping is configured it is possible to export it to the computer and/or the\nvehicle, which can then be imported later to new Cockpit instances/devices.\n\n\n\nSupport is built in for simultaneous input from multiple sources, including multiple joysticks, and by\ndefault each joystick can provide up to 8 axis ranges and 32 buttons.\nJoystick Protocols\nWhen mapping the functionality of a joystick button or axis, there are multiple protocols to choose from:\n\n\n\nMAVLink MANUAL_CONTROL Messages\nMANUAL_CONTROL MAVLink messages are \nautomatically sent to the vehicle at 25Hz, which is not currently configurable.\nButton functions are determined by the autopilot firmware - e.g. in ArduSub they correspond to\nBTNn_FUNCTION\nparameter values.\nAs a few caveats:\n\nArduSub <= 4.1.x only supports 16 independent buttons and 4 axis ranges in its MANUAL_CONTROL handling\n\nMore recent versions support the extended protocol, with 32 buttons and 6 motion axis inputs\n\n\nArduRover does not support buttons via the MANUAL_CONTROL protocol\nWhen mapping the Z (vertical) motion axis range, note that ArduSub uses 0 to +1000 for full reverse to full\nforwards, whereas other vehicle types use -1000 to +1000\n\nThe function mapping decision process is designed to minimise intrusiveness to existing setups. When mapping a\nMANUAL_CONTROL button function to a joystick button, Cockpit\n\nFirst tries to use already mapped functions\n\ne.g. if there is already a BTNn_FUNCTION configured to enable Stabilize mode, a Cockpit button being set\nto enable Stabilize mode will map to that existing function bit\n\n\nThen overwrites available Disabled BTNn_FUNCTIONs\nThen tries to overwrite any mapped function bits that Cockpit currently isn't using\n\nIf you try to change a Cockpit function to a MANUAL_CONTROL function when there are no buttons left it\nwill display an error message about insufficient buttons\n\n\n\nIt is permitted to map the joystick button functions without a vehicle connected, in which case any relevant\nautopilot parameters will be automatically remapped once the vehicle connects. If more MANUAL_CONTROL button\nfunctions have been assigned than are supported by the vehicle then the extra ones are removed, and a warning\nis raised to notify that the configured mapping is not fully as designed.\nCockpit Actions\nJoystick buttons can also be configured to run more general functionalities, like modifying the interface or\nsending a single MAVLink message. The current supported Actions are:\n\ngo_to_next_view\ngo_to_previous_view\ntoggle_bottom_bar\ntoggle_full_screen\nmavlink_arm\nmavlink_disarm\n\nModifier Keys\nModifiers allow sacrificing one button in order to add an extra functionality slot for every non-modifier button.\nPressing a button while a modifier is held runs the modified function instead of the regular button function.\nCurrently only a single modifier is available (Shift). As a special case, when a shift functionality slot is\nconfigured as a MAVLink MANUAL_CONTROL protocol function, it will activate BTNn_SFUNCTIONs rather than the\nregular BTNn_FUNCTIONs, which allows additional MANUAL_CONTROL button functions to be configured. Functions\nfrom other joystick protocols are unaffected, and can be arbitrarily assigned to regular or modifier-based\nfunctionality slots.\nOther\nCurrently only used for the \"No Function\" option.\nCustom Joysticks\nAdding support for a new joystick type requires providing an SVG file with particular element IDs\n(for function mapping, and so the elements can be dynamically filled when the corresponding button is pressed):\n\npath_b* is used for different button numbers, numbers can currently be from 0-31\n\nthe buttons can be remapped during Cockpit configuration by clicking on the displayed button in the SVG\ndisplay and clicking the \"Remap\" button followed by pressing the actual joystick button that matches the\ndisplayed location\n\n\npath_b10/b11 are currently used to denote the joystick axes\n\n10 indicates the left side joystick, 11 indicates the right side one\nin future there will be support for arbitrary axes and sliders\n\n\nNew SVGs currently need to be added to the code, but in future will be possible to add/import dynamically\n\nOnce Cockpit has a suitably registered SVG file for the desired joystick type, it is possible to perform the\nrelevant \"Joystick mapping\", from the button IDs presented by the physical joystick to labels that match the\ncorresponding buttons in the SVG file. This mapping can then be exported to the computer and/or the vehicle,\nand imported to new Cockpit instances/devices later.\nLogs\nCockpit can optionally record some of its received telemetry values, which can then be turned into subtitle\nfiles when recording videos. \nCurrently the possible variables for logging are pre-defined, and the output format is determined automatically.\nIf left unconfigured, the variables that are recorded by default are those from active widgets in the selected \nProfile. It is possible to override which variables are logged via the configuration page, but\ncustom widgets like the VeryGenericIndicator cannot currently be logged.\n\n\n\nLogging is at a fixed rate of 1Hz. When a video recording completes, a corresponding subtitle file is generated\nby slicing the raw log from the start to end timestamps of the video.\n\n💡 Recorded video and subtitles are in separate files, so the browser will typically ask for permission to \"download\nmultiple files\", which must be accepted to get access to the subtitles corresponding to a video recording.\n\nAlerts\nIt is possible to select the desired text-to-speech voice, as well as configure which alert severities\nare read out loud:\n\n\n\nMission Planning\n\nAllows planning (and saving/loading) autonomous missions\nAllows mission control\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/","path":"/software/control-station/Cockpit-1.0/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/":{"body":"General Configuration\nWhen run as a BlueOS Extension, Cockpit will automatically be configured to connect using the IP address of the connection to BlueOS.\nIf that address changes during operating (or if Cockpit is run as a standalone application) it may be necessary to configure the\nglobal vehicle address, MAVLink2REST address, and WebRTC signalling server address so that Cockpit knows the correct connection \npoints for the vehicle. After address configuration it is necessary to refresh the page.\nTo access the configuration section, open the burger menu in the top left, and select \"Configuration\".\n\n\n\nInterface Setup\nVisual Display\nBy default, the interface of Cockpit is set up with three views:\n\nVideo view\n\nIncludes a video stream, vehicle telemetry, compass and attitude instrument indicators, status updates, and flight mode selection\nUseful for first-person control of a vehicle like an ROV, copter, or plane, focused on what the vehicle can see\n\n\n\n\n\n\n\nHUD view\n\nIncludes a video stream, vehicle telemetry, heads-up display (HUD) overlay elements, status updates, and flight mode selection\nAn alternative for first-person control of a vehicle like an ROV, copter, or plane, focused on precision maneuvering\n\n\n\n\n\n\n\nMap view\n\nIncludes a map, vehicle telemetry, status updates, and flight mode selection\nMost useful for mission planning and remote monitoring of vehicles with a positioning system and/or autonomous control\n\n\n\n\n\n\nThe available views and the widgets within them (including sizing and placement) can be configured as described in the\nadvanced usage documentation.\nJoystick Configuration\nFor vehicles controlled via a joystick, button and axis mappings can be set by clicking the burger menu (top left), then selecting\n\"Configuration\" and navigating to the Joystick tab.\n\n\n\nVehicle Setup\nCockpit does not currently contain vehicle configuration or calibration functionalities. It is recommended to perform these in advance,\nusing either the BlueOS web interface and/or an alternative control station software like QGroundControl.\nIt is possible to switch between Mission Planning and Flight displays via the burger menu in the top left.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/","path":"/software/control-station/Cockpit-1.0/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/":{"body":"BlueOS Extension\nFor vehicles with an Onboard Computer running BlueOS,\nand an IP-based (wifi / ethernet tether) connection to the Control Station Computer,\nCockpit is available\nas a BlueOS Extension.\nUpdates\nOnce installed, updating to a new Cockpit version can be done via the \"Installed\" tab of the BlueOS\nExtensions Manager.\nSelf-Contained Application\nIn future, Cockpit will also be available as a self-contained Electron application, which can be stored on a Control Station\nComputer and started up for connection to a vehicle.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/","path":"/software/control-station/Cockpit-1.0/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/":{"body":"\n\n\n\n\n\nA bit of context...\nThe existing market for control station software is missing an option that's readily available, easy to use, versatile, easy to customise and develop for, and cross-platform. In response to this need, and fueled by years of inspirations for what a truly great control station could be, Cockpit is Blue Robotics' next-generation control interface, for thrusting your vehicle control experience into the future.\nAvailability\nCockpit is currently publicly available as a BlueOS Extension (requires BlueOS >= 1.1). It is still in an initial development phase, and will not be actively supported until it is officially released.\nThe source code is available on GitHub,\nunder two possible licenses.\nPrimary Feature List\n\nBrowser-based control station software, for vehicle control and monitoring from any web-capable device\nWidget-based layout system, with freeform positioning and resizing\nCustom display Views, for interface pages/profiles that can be switched between\n\nDifferent browser windows/screens/devices can independently select which view to display\nViews are downloadable and can be shared (json contains name and list of components and widget settings)\n\n\nMAVLink NAMED_VALUE_FLOAT/_INT messages are self-registering for use in mini-widgets (including custom ones!)\nWebRTC-based video widget\n\nMultiple widgets can be added to support arbitrary numbers of video streams\nIncludes video recording support, on the display device\n\n\nMap widget\n\nProvides position tracking\nAllows planning (and saving/loading) autonomous missions\nAllows mission control\nIn future will allow setting the current vehicle position, and clicking to guide the vehicle to new positions\n\n\nCustomisable Actions mappable to user inputs (e.g. joysticks, and key presses / screen clicks in future)\n\nActions can send commands to the vehicle, or can trigger local events like view switching and starting video recording\nIncludes support for simultaneous input from multiple sources (including multiple joysticks)\n\n\nJoysticks of any type can be configured\n\nButtons and axes can be mapped to arbitrary Actions\n\n\nNotification system\n\nDisplays autopilot (MAVLink STATUSTEXT) and application alerts\nIncludes text to speech announcements\n\n\nMission naming used on the interface and video save filenames\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/","path":"/software/control-station/Cockpit-1.0/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/","path":"/software/onboard/","title":"Onboard Computer"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/","path":"/software/onboard/BlueOS-1.0/","title":"BlueOS"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/advanced-usage/":{"body":"General Information\nThis documentation page is for detailed information about the services and pages\nin the BlueOS web interface. For a higher level list and direct comparison of\nfeatures see the Overview instead.\nPirate Mode\nThe default BlueOS interface is simplified, and shows only the major tools that\nmost people are likely to find useful. Full functionality is available via \n\"Pirate Mode\", which can be enabled from the settings in the sidebar.\nNote that Pirate Mode is advanced/development mode, and should be used with care.\nThis documentation by default shows the full functionality interface, to provide\nan overview of all functionality instead of a limited subset, but if you're only\ninterested in the basic functionality you can click the button below:\n\n\n\n hide advanced functionality\n\n\nAny pages that are extended by (or only available in) Pirate Mode are shown in\ndark mode, and described with grey text.\nMain\n\n\nBased On: blueos-frontend | Port:80\n\n\nWhen you first open BlueOS, you'll see a window like the following:\n\n\n\n\n\n\nIndicators and Network Configuration\nOn the right side of the header you'll find:\nNotifications\n\nPress broom to clear notifications\nPress cog to toggle showing old messages\n\n\n\n\nEthernet + static IP management\n\n\nBased On: Cable Guy | Port:9090\n\n\nChoose between:\n\nA static IP\nA DHCP server\nA dynamic IP\n\n\n\n\n\n\n\nWifi network management\n\n\nBased On: Wifi Manager | Port:9000\n\n\n\nChoose a network to connect to\nForget, connect to, or a force a new password for a saved network\n\n\n\n\n\n\n\nSystem status\n\nHeartbeat icon pulses with vehicle heartbeat, and goes red if heartbeat is lost\nOn click shows onboard computer temperature, voltage, and current usage\nAdditional warning icons appear if a problem is detected on the onboard computer:\n\nHigh disk usage\nCPU overheating\nCPU throttling\nCPU under voltage\n\n\n\n\n\n\nSidebar\nThe burger menu at the top left of the header opens up the side-bar, for\nconveniently accessing available pages, tools, and services.\n\n\n\n\n\n\nSettings\n\n\n\n\n\n\n\nReset BlueOS settings\n\nRemove existing camera/endpoint/bridges configuration\n\n\nPirate mode toggle\n\nAccess or hide advanced functionality\nAdvanced users only - pirate mode is not recommended for normal use\n\n\nDark mode toggle\n\nChange between light and dark viewing modes\n\n\n\nPower\n\n\n\n\n\n\n\nPower off\n\nShut down onboard computer\nRecommended before turning off vehicle power\n\n\nReboot\n\nReboot onboard computer\n\n\n\n\n\nSoft restart\n\nDo a software-restart of BlueOS (without restarting the computer)\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\n\n\nRestart core container (same as \"Soft restart\")\n\nRestart the core BlueOS docker container\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\nFeedback\n\n\n\n\n\n\nSubmit feedback about BlueOS via:\n\nIssues on the GitHub repository (allows easily tracking changes, \nand notification when complete/fixed)\nPosts on the Blue Robotics forum (allows easy discussion with the community)\n\n\n\nMessages in the Blue Robotics Slack (for internal use)\n\n\nVehicle\nGeneral\nThe \"General\" page provides basic info about the active autopilot, along with\noptions to:\n\nChange board (select a connected board, or run an \nSITL simulation)\nRestart the autopilot\n\n\n\nStart the autopilot\nStop the autopilot\n\n\n\n\n\n\n\n\nFirmware\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nArduPilot family of firmwares only\nChoose firmware to install\n\nSelect from the online repository\n\nSelect vehicle type (Sub / Rover / Plane / Copter)\nSelect desired release and stability level\n\nOfficial - The latest stable release. Recommended for most users.\nStable - A production-ready release. Suitable for most users.\n\ne.g. Stable-4.0.3\n\n\nBeta - In-testing release, with new features and improvements, aiming\nto become stable. May have bugs.\nDev - Development branch, with all the newest features. Intentionally\nunstable (changes quickly), and possible untested/dangerous.\n\n\n\n\nUpload a custom firmware file from the surface computer\nRestore the default (ArduSub) firmware for the connected flight controller\n\n\nFlash firmware onto a connected compatible flight controller board\n\n\n\n\nLog Browser\n\n\nBased On: UAV LogViewer \n\n\n\nBuilt in log viewer for powerful analysis of vehicle telemetry\nCurrently only set up to fetch logs automatically from Linux-based autopilots\n\ne.g. Pixhawk not yet supported\n\n\n\n\n\n\nVideo\n\n\nBased On: MAVLink Camera Manager | Port:6020\n\n\n\nBlueOS automatically detects H264-encoded video streams\nThe first time BlueOS starts up it will auto-configure any cameras that are \nconnected at that time, with UDP streams counting up from port 5600\n\ne.g. a second camera at first startup would be streamed to port 5601\nAuto-configuration also occurs if the settings are reset\n\n\n\n\n\nIt's also possible to manually reset only the camera settings by deleting\nthe file /root/.config/mavlink-camera-manager/settings.json via\nthe file browser or the terminal, or starting\nthe camera manager inside the tmux session with the --reset flag\n\n\n\nAfter the initial startup, settings are saved and persistent across reboots\n\nFurther changes require manually re-configuring streams\nNew streams need to be manually added\n\nThe stream endpoint should be set to udp://<surface-IP>:<port>\ne.g. udp://192.168.2.1:5601\n\n\n\n\nThe streams are also presented via MAVLink, so QGroundControl (>=v4.1.7) can\ntoggle between them without needing to know specific ports.\n\n\n\n\n\n\n\nCamera settings (brightness, exposure, etc) that are exposed via UVC can be\nconfigured with the \"Configure\" button\nSwitching streams in QGroundControl while recording stops the current recording\n\nIf you are regularly switching streams it may be worth doing a screen recording\neither instead of or as well as recording the base video\n\n\nQGroundControl does not yet support displaying multiple streams simultaneously\n\nAdditional streams can be processed/viewed/recorded by the options discussed\nhere\n\n\nRaspberry Pi cameras are not yet supported in the pre-built releases/images\n\nIt is possible to do a custom installation on Raspberry Pi OS Buster or\nmanually enable the legacy camera stack on Bullseye if necessary\n\n\n\n\n\n\n\n\n\n\n(MAVLink) Endpoints\n\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nThe endpoint manager allows managing the serial and UDP MAVLink endpoints and\nrouting configurations.\n\n\n\n\n\n\nEndpoints intended for internal BlueOS operations are configured to the\nloopback IP 127.0.0.1\nServer endpoints for external use are configured to the localhost IP (e.g.\n0.0.0.0; 192.168.2.2 may also work)\nClient endpoints for external use are configured to the external IP (e.g.\n192.168.2.1)\nClient endpoints seem to operate more stably than server ones\nUnprotected endpoints can be removed or disabled:\n\n\n\n\n\n\n\nModifying an endpoint is not possible - a new one must be created instead\n\ne.g. some users may wish to set up a UDP endpoint for connecting to with\nPymavlink from the surface:\n\n\n\n\n\n\n\nTools\nSystem Information\n\n\nBased On: System Information | Port:6030\n\n\nThe system information page provides useful information about the processes,\nnetwork configuration, and computer system BlueOS is running on. It can be\nuseful for troubleshooting, and finding if a particular program is using\nexcessive resources.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nNetwork Test\n\n\nBased On: Pardal | Port:9120\n\n\nThe Network Test page measures real-time latency between BlueOS and the surface\ncomputer, and allows checking the upload and download speeds between them.\n\n\n\nVersion Chooser\n\n\nBased On: Version Chooser | Port:8081\n\n\nThe Version Chooser is a major component in the robust backbone of BlueOS. It\nruns independently from the main interface, and is monitored such that if it\nsomehow fails a backup version will be run in its place.\n\n\n\n\n\n\n\nThe simplified interface provides an easy way to update to the latest version\nthat is as stable or more stable than the currently installed version\n\n\n\nThe full interface supports easily changing forwards and backwards between\nversions\n\nPreviously-installed versions are kept locally on the device, unless\nmanually deleted, which provides an easy route for roll-backs to undesired\nchanges (e.g. during development)\n\n\nAllows loading remote versions (including from custom docker-hub repositories)\nAllows manually uploading docker images from the surface computer\nIf an undetected failure somehow occurs in BlueOS (or if a broken version gets\ninstalled) it's possible to easily roll back to a working version from\n\non the device\nmanual upload, or\ndownloaded from the internet\n\n\nIf necessary, the underlying service can be accessed directly\n\ne.g. http://blueos.local:8081\n\n\n\n\n\nAvailable Services\nThe Available Services page provides developer access to the underlying http\nserver interfaces of the services upon which BlueOS is based. Each service is\nlisted with \n\nthe port it is served at\na meaningful name\na web-page link using the active \nnetwork configuration, and where relevant\nits API documentation (in a live-testable form)\nthe current API version\n\nAny service that provides an http server with a\ntitle tag will be displayed.\nDocumentation can also be parsed if\n\nit follows the swagger/open api spec, and \nis available at /docs or /v1.0/ui\n\n\n\n\n\n\n(Serial-UDP) Bridges\n\n\n\nBased On: Bridget | Port:27353\n\n\n\nThe Bridges page allows creating high performance links between serial devices\nthat are connected to the onboard computer, to a UDP port.\n\n\n\n\n\n\nNOTE: UDP-based systems do not guarantee packet delivery or sequential alignment\nBridges to the Control Station Computer\nwill generally use the localhost IP 0.0.0.0, which creates a UDP server that waits\nfor a UDP client on the control computer to connect to it\n\nother IP addesses create a UDP client on the onboard computer, which expects the\nserial device to initiate communication before the connected UDP server (on the\ncontrol computer) can respond\n\n\nBridges to internal programs can use the loopback IP 127.0.0.1, which creates a\nlocal server\n\n\n\n\n\n\nFile Browser\n\n\n\nBased On: File Browser | Port:7777\n\n\n\nThe File Browser allows viewing, editing, downloading, and uploading BlueOS files\n\n\n\n\n\n\nNOTE: There is \na known issue\nwhere the File Browser does not load properly with certain browsers. It is\nfixed in the 1.1.x beta releases, but in the interim for current stable\nreleases it's possible to access the underlying service at \nhttp://blueos.local:7777\n\n\n\nNMEA Injector\n\n\n\nBased On: NMEA Injector | Port:2748\n\n\n\n\nConveys GPS positions (from an NMEA device) to the vehicle via MAVLink messages\n\n\n\n\n\n\n\nSetup requires a UDP socket for the NMEA device to connect to, and a MAVLink ID\nfor the component that will send the location data to the vehicle\n\n\n\n\n\n\nTerminal\n\n\n\nBased On: ttyd | Port:8088\n\n\n\nThe terminal provides\n\nA tmux session\nDirect access into the core BlueOS docker container\nReady access to the tmux sessions of the core services (CTRL+b s)\n\nUseful for seeing logs as they update live\nCan kill services if necessary\n\n\nAccess to the underlying device via the red-pill utility\n\nCan return to the docker using the exit command, or pressing CTRL+d\n\n\n\n\n\n\n\n\nMAVLink Inspector\n\n\n\nBased On: MAVLink2Rest | Port:6040\n\n\n\nThe MAVLink Inspector provides real-time access to the MAVLink messages being\nsent to the topside computer. It is possible to\n\nfilter for particular messages\nview past and current messages\nclick on messages to see their full details\n\n\n\n\n\n\nFuture improvements will include plotting and comparisons, along with more\npowerful filtering options.\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/advanced-usage/","path":"/software/onboard/BlueOS-1.0/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/getting-started/":{"body":"Network Configuration\nYour topside computer’s network configuration should be the same as for the previous Companion software.\nTo configure it, you can follow our network setup instructions.\nNew Web Interface\nBlueOS is designed to be a modular collection of services, which generally each provide a REST API, documentation, and a development webpage.\nThe web interface monitors the autopilot and other main software components, and also listens for and displays connections from other HTTP servers (on TCP ports) and docker containers, so you can keep your own integrations isolated from the normal BlueOS release/update cycle.\nInterface Access\nYou can access BlueOS via the old IP address (192.168.2.2) or via blueos.local, to connect with it via wifi, it's possible to use blueos-wifi.local.\nInterface Features\nWhen you first open the web interface, you'll see a page that looks like this:\n\nOf particular note is the header, which contains:\n\nthe main hamburger menu (top left corner), for managing your flight controller and accessing some useful tools, and\nhealth, wifi, network, and notification indicators (top right corner)\n\nUpdating / Releases\nBlueOS supports multiple release types - we recommend the latest stable version for most people. Releases and change-logs are available on the GitHub releases page.\nConnect Wifi\nWhen starting out, it's important to connect to wifi so you can update to the latest suitable release.\n\n\nFirst, click the wifi indicator to scan for available wifi networks\n\n\n\nSelect the desired network, type in the password, and click connect\n\n\n\nOnce connected, the wifi icon will change to show the signal strength, and the connected wifi network will be selected on the menu\n\n\n\nSelect Version\nNow that your BlueOS has an internet connection, you can perform the update to the latest available version.\n\n\nClick on the hamburger menu\n\n\n\nUnder tools, select Version-Chooser\n\n\n\nIf you're already on the latest version, the right side of your Local Version will be blank. If not, you should see a blue Update button.\n\n\n\nOnce the update button is clicked the update process will run.\nPlease wait until it finishes - it will automatically reload the webpage for you.\n\n\nCamera Streams\nBlueOS is capable of configuring and streaming multiple cameras simultaneously. The first time it boots, it will automatically detect any connected H264-capable cameras and start streaming them. If not, make sure your camera is properly connected, and that BlueOS is on the latest available version. Reset settings and restart BlueOS if necessary.\nAdditional information is available in the Video section of the Advanced Usage page.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/getting-started/","path":"/software/onboard/BlueOS-1.0/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/installation/":{"body":"Download\nBlueOS is a ground-up rewrite software to replace Companion. To use it you'll need to download and flash an SD card.\nIt is compatible with both Raspberry Pi 3 and Raspberry Pi 4.\nThe latest available stable version is:\n\n\nFlash\nWe recommend using a fresh SD card, with at least 4GB capacity.\n\nDownload and install Balena Etcher\nInsert the SD card to your computer (you may need an SD card reader)\nOpen Etcher, select the image you just downloaded, and flash it onto the SD card\n\nRun\n\nEject your SD card with the new BlueOS software\nInsert it into your Raspberry Pi, and power it up!\n\nThe first boot may take a couple of minutes, as it expands the filesystem to the new SD card capacity. It should take around 2 minutes for a 16GB class 10 SD card.\nUpdates\nOnce BlueOS is installed, updating to a different version is simple via the Version Chooser.\nManual Installation\nFor developers with alternative hardware, or who would rather install over a pre-installed base operating system / image, BlueOS provides an install directory with utilities to help perform manual/software-based installations.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/installation/","path":"/software/onboard/BlueOS-1.0/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/overview/":{"body":"A bit of context...\nThe original Companion project (started in 2015) was originally created with the simple intent to route an underwater vehicle's video stream and communications to the surface computer, and provide some basic configuration of those features and the vehicle firmware. The simple scope was great to get things started, but also meant that new and complex features weren't designed in from the start, so maintenance and developing functionality have been increasingly challenging.\nWith lessons learned on useful features and software architecture requirements, BlueOS was designed and created from the ground up to fit the requirements of the onboard computer system we want to have - with room to grow into a true operating system for the vehicle. BlueOS is modular to the heart, which makes it portable, robust to update, and extensible. \nThere are many upcoming features, including support for third party packages, applications, advanced data logging, and much more! We're super excited about our future with BlueOS, and we can't wait for you to join us and try it out! 😄\nBlueOS principles and goals\nAs the core development team we've tried to envision the future of the onboard computer, and the features that will require. Our initial ideas have been distilled into the following core concepts, many of which are already built in to the BlueOS of today:\n\nAn interface that is simple by default but powerful when needed - the user has the power to change anything they desire and customize the full experience\nDesigned to focus on what matters, improving user access to information and controls with a human-friendly UI and UX\nMake complex tasks simpler and improve ease of use by reusing design patterns from other applications (based on the material UI guidelines)\nAdvanced error handling and detection, making any problems clear to the user and developers, along with how to fix them\nSimplify development, providing full access to our services API and modular development model\nEncourage contributions, the project is open source!\nPortable and flexible, you should be able to run on a Raspberry Pi 3/4 or any SBC with Linux operating system, contributions are welcomed\nHighly functional with low CPU usage, the entire system is built to run efficiently\nDeveloped on solid foundations, critical parts or intensive workforce services are designed using the most advanced languages and features available for stability\n\nSome of these principles will only be evident in future releases, but the underlying software architecture and organization have been designed from the ground up to support and enable them.\nFeature Comparison\nBlueOS has most of the features from the old Companion, and some hotly-requested new ones too!\nFeatureCompanionBlueOSBoth\nHardwareRaspberry Pi 3B requiredRaspberry Pi 3B / 3B+ / 4B supported;Other Linux-based SBCs images to come;You can install from scratch using the installation script in any Linux computer. (Modifications may be necessary for your hardware configuration)\nWIFI managerConnect to a single networkConnect to and manage multiple networks, like a cellphone or computer WIFI managerVisible and hidden networks supported\nEthernet managerSingle DHCP or static networkMultiple static IPs and DHCP configurationDHCP client or server\nCamera managerSelect a single camera to stream over UDPSupports Raspberry Pi cameras (except HQ Camera)Supports a single audio stream over UDPEasily manage multiple streamsUDP, RTSP and support coming soon for WebRTC (#1000)Raspberry Pi camerasnot yet supported (#991)Audio streamingnot yet supported (#990)H264-encoded streams only\nNMEA support--Conveys GPS positions to the vehicle\nPing Sonar DevicesPing Sonar distance estimates can be sent via MAVLinkDevices can be hot-pluggedMAVLink pipelinenot yet supported (#264)Ping Sonar and Ping360 can connect with Ping Viewer\nArduPilot FirmwareArduSub-only downloadsGeneral ArduPilot downloads;select vehicle to updatestable, beta, and devel releases, custom uploads, and restore default parameters\nEndpoints--Create and manage UDP, TCP, and serial MAVLink endpoints\nBridges--Create and manage bridges between serial and UDP endpoints\nFile Browser-Edit files from the browserDownload and upload files\nLog managerSsh/terminal onlyDownload and manage logs from the browser\nLog Viewer-Visualise and analyse logs from the browser\nWeb TerminalAccess Linux terminal from the browserAccess Linux terminal with a tmux session from the browserWeb terminal client\nVersion ChooserUpdate to latest stable onlyEasily update/downgrade between versions, including locally stored;Includes stable, beta, and master releases*;Available even if main site failing\nSystem informationBasic usage statistics, list of connected devicesProvides all the necessary information about the hardware, operating system, running processes, CPU, memory, disk, network usage and status\nNotification system-Notifications about issues, new releases, and the status of your system.\nNetwork test-Check real time latencyCheck upload and download speed from the surface computer to the vehicle\nMAVLink inspectorSee latest MAVLink messages via MAVLink2RESTsee and inspect MAVLink messages in real time from the browserMAVLink2REST is available\nWater LinkedSupports UGPS and DVL-A50DVL-A50 package available;UGPS not yet supported\n\nRelease Types\nBlueOS has multiple release types, to allow choosing your preferred balance between access to the latest fixes and improvements, and stability of the software. The three release types are:\n\nStable: Officially tested and validated\n\nStable versions with long term support\nRecommended for most users\n\n\nBeta: Quick-passed rolling releases with new features, bug fixes and general improvements\n\nVersions that will be released after an internal test\nA taste of what's to come\n\n\nMaster: Rapidly-passed bleeding edge development releases 🔥\n\nThe very latest features, that may not have been tested yet\nHighly volatile, generally not recommended\nFor those who want to live in the future\n\n\n\nWhen BlueOS is connected to the internet, a notification appears if a newer version of the same release or a stabler type is available. E.g: When using a Stable version, only new Stable versions will trigger a notification. If using a Beta release, newer Beta and Stable releases will trigger a notification. When running Master, any release type newer than the active one will trigger a new update notification. This helps to ensure that any updates will be as or more stable than your current version, unless you intentionally change to a less stable release type.\nIt's worth noting that Version Chooser in general offers several major robustness and versatility improvements over the previous 'latest update only' approach, which should benefit both users and developers.\nQuick links\n\nDocumentation\nSource code\nReleases, changelogs, files\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.0/overview/","path":"/software/onboard/BlueOS-1.0/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/","path":"/software/onboard/BlueOS-1.1/","title":"BlueOS"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/advanced-usage/":{"body":"General Information\nThis documentation page is for detailed information about the services and pages\nin the BlueOS web interface. For a higher level list and direct comparison of\nfeatures see the Overview instead.\nPirate Mode\nThe default BlueOS interface is simplified, and shows only the major tools that\nmost people are likely to find useful. Full functionality is available via \n\"Pirate Mode\", which can be enabled from the header bar.\nNote that Pirate Mode is advanced/development mode, and should be used with care.\nThis documentation by default shows the full functionality interface, to provide\nan overview of all functionality instead of a limited subset, but if you're only\ninterested in the basic functionality you can click the button below:\n\n\n\n hide advanced functionality\n\n\nFor clarity of this documentation, any pages that are extended by (or only available\nin) Pirate Mode are shown in dark mode, and described\nwith grey text.\nInterface Overview\n\n\nBased On: blueos-frontend | Port:80\n\n\nWhen you first open BlueOS, you'll see a window like the following:\n\n\n\nHeader: Indicators and BlueOS Configuration\nOn the left side of the header there is space for widgets, which can be accessed by\nright clicking and selecting the desired widgets to display. Widgets can be reordered\nby clicking and dragging.\nThere are currently widgets available for displaying the CPU and Disk (storage) usage\nas percentages, which are periodically updated during operation.\n\n\n\n\nOn the right side of the header you'll find:\nNotifications\n\n\n\n\nPress the broom to clear notifications\nPress the gear to toggle showing old messages\n\nWired network management (ethernet / USB-OTG)\n\n\nBased On: Cable Guy | Port:9090\n\n\nFor each interface, choose between:\n\nA static IP\nA dynamic IP\nA DHCP server\n\nIt is possible to have multiple connections per interface type.\n\n\n\n\n\n\nWifi + Hotspot network management\n\n\nBased On: Wifi Manager | Port:9000\n\n\n\nChoose a wifi network to connect to\n\nThe BlueOS web interface is accessible via \nhttp://blueos-wifi.local when\nconnected to the same wifi network as your device (including a mobile phone)\n\n\n\n\n\n\n\nForget, connect to, or a force a new password for a saved network\n\n\n\n\n\nConfigure or turn on/off the BlueOS wireless hotspot, or display a QR code to\neasily connect to it from a phone\n\nThe hotspot SSID is named BlueOS (******) by default, where the asterisk\nfield varies for each system\n\nThe default password for the hotspot is blueosap\n\n\nThe BlueOS web interface is accessible via \nhttp://blueos-hotspot.local and\nhttp://192.168.42.1 when your device is connected to\nthe BlueOS hotspot network\n\n\n\n\n\n\nInternet Status and Management\n\nSee whether the vehicle is connected to the internet (updates every 20 seconds)\n\n\n\n\n\n\nConfigure network priority ordering\n\nDetermines which network interface is used for internet connection\nGenerally wlan0 should be at the top (for internet via wifi)\nMove eth0 to the top if using internet passthrough via the tether\n\n\n\n\n\n\n\n\n\nView and configure DNS name servers\n\n\n\n\n\nDisplay Mode Management\n\n\n\n\nPirate mode can be toggled via the happy robot /\nskull-and-crossbones icon\n\nAccess or hide advanced functionality\nAdvanced users only - pirate mode is not recommended for normal use\n\n\nLight and dark display modes can be toggled between with the sun / moon icon\n\nSystem status\n\n\n\n\nHeartbeat icon pulses with vehicle heartbeat, and goes red if heartbeat is lost\nOn click shows onboard computer temperature, voltage, and current usage\nAdditional warning icons appear if a problem is detected on the onboard computer:\n\nHigh disk usage\nCPU overheating\nCPU throttling\nCPU under voltage\nConnected wirelessly (instead of through a tether)\nBlueOS cannot connect to its host computer\n\n\n\nSidebar\nThe burger menu at the top left of the header opens up the sidebar, for\nconveniently accessing available pages, tools, and services. When the page\nis wide enough, the sidebar automatically stays open.\n\n\n\n\n\n\n\nThe theme content at the top is configurable\n\n\n\nThe development documentation\nspecifies the requirements for a service page to appear in the sidebar\n\n\nBlueOS Settings\n\n\n\n\nReset BlueOS settings\n\nRemove existing camera/endpoint/bridges configuration\n\n\nRemove log files from BlueOS services (to reduce space usage on the SD card)\nDownload log files from BlueOS services to report a problem\n\nOld logs are aggregated and kept as zip files\n\n\nRe-enable the configuration wizard\n\nPower\n\n\n\n\n\n\n\nPower off\n\nShut down onboard computer\nRecommended before turning off vehicle power\n\n\nReboot\n\nReboot onboard computer\n\n\n\n\n\nSoft restart\n\nDo a software-restart of BlueOS (without restarting the computer)\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\n\n\nRestart core container (same as \"Soft restart\")\n\nRestart the core BlueOS docker container\nGenerally sufficient for most 'reboot' requirements\n\n\n\n\nFeedback\n\n\n\nSubmit feedback about BlueOS via:\n\nIssues on the GitHub repository\n\nallows easily tracking changes, \nand notification when complete/fixed\n\n\nPosts on the Blue Robotics forum\n\nallows easy discussion with the community\n\n\n\nDashboard\nThe \"Dashboard\" page provides an overview of the available pages. In future it\nwill provide an overview of the vehicle state and main configuration options.\nClick the BlueOS logo to return to the dashboard at any point.\n\n\n\n\n\n\nBlueOS Service Pages\nPages are sorted alphabetically.\nAutopilot Firmware\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\nThe Autopilot Firmware page provides basic information about the active\nautopilot, along with options to:\n\n\nChange board (select a connected board, or run an \nSITL simulation)\nStart the autopilot\nStop the autopilot\n\n\n\nRestart the autopilot\nUpdate the firmware\n\nArduPilot family of firmwares only\nChoose firmware to install\n\nSelect from the online repository\n\nSelect vehicle type (Sub / Rover / Plane / Copter)\nSelect desired release and stability level\n\nStable - A production-ready release.\n\nThe latest Stable is recommended for most users.\ne.g. Stable-4.1.1\n\n\nBeta - In-testing release, with new features and improvements, aiming\nto become stable. May have bugs.\nDev - Development branch, with all the newest features. Intentionally\nunstable (changes quickly), and possible untested/dangerous.\n\n\n\n\nUpload a custom firmware file from the surface computer\nRestore the default (ArduSub) firmware for the connected flight controller\n\n\nFlash firmware onto a connected compatible\nflight controller board\n\n\n\n\n\n\n\n\n\n\nSystems with a \nNavigator\nflight controller also have the option to configure serial-compatible ports from\nthe onboard computer (including USB ports) as serial ports accessible to the\nautopilot.\n\n\n\n\nAutopilot Parameters\nNew in 1.1\nThe Autopilot Parameters page allows checking and changing the autopilot's configuration.\n\nIncludes fuzzy searching of names and descriptions, to help find relevant parameters\nAllows loading parameters from a file, and saving the current parameters to a file\n\n\n\n\n\nAvailable Services\nThe Available Services page provides developer access to the underlying http\nserver interfaces of the services upon which BlueOS is based. Each service is\nlisted with \n\nthe port it is served at\na meaningful name\na web-page link using the active \nnetwork configuration\n\nand where relevant\n\nits API documentation (in a live-testable form)\nthe current API version\n\nThe individual services are documented in the development documentation.\n\n\n\n\n\nBag Editor\n\n\n\nBased On: Bag of Holding | Port:9101\n\n\n\nThe Bag Editor is a helper service for advanced users, which allows modifying the\ndatabase used to handle frontend interface changes.\n\n\n\n\nBlueOS Version\n\n\nBased On: Version Chooser | Port:8081\n\n\nThe Version Chooser is a major component in the robust backbone of BlueOS. It\nruns independently from the main interface, and is monitored such that if it\nsomehow fails a backup version will be run in its place.\n\n\n\n\n\n\n\nThe simplified interface provides an easy way to update to the latest version\nthat is as stable or more stable than the currently installed version\n\n\n\nThe full interface supports easily changing forwards and backwards between\nversions\n\nPreviously-installed versions are kept locally on the device, unless\nmanually deleted, which provides an easy route for roll-backs to undesired\nchanges (e.g. during development)\n\n\nAllows updating the bootstrap image to match the current version\nAllows loading remote versions (including from custom docker-hub repositories)\nAllows manually uploading docker images from the surface computer\nIf an undetected failure somehow occurs in BlueOS (or if a broken version gets\ninstalled) it's possible to easily roll back to a working version from\n\non the device\nmanual upload, or\ndownloaded from the internet\n\n\nIf necessary, the underlying service can be accessed directly\n\ne.g. http://blueos.local:8081\n\n\n\n\n\nFile Browser\n\n\n\nBased On: File Browser | Port:7777\n\n\n\nThe File Browser allows viewing, editing, downloading, and uploading BlueOS files.\n\n\n\n\nLog Browser\n\n\nBased On: UAV LogViewer \n\n\n\nAllows downloading telemetry .bin logs from Linux-based autopilots\n\nSet the BRD_RTC_TYPES autopilot parameter to include MAVLINK_SYSTEM_TIME\nso the filenames use timestamps\n\n\nCan stream logs from external flight controllers (e.g. Pixhawks) if the\nLOG_BACKEND_TYPE autopilot parameter is set to MAVLink\n\nMay be inconsistent\n\n\n\n\n\n\n\nPress the green play button to access the built in Log Viewer, to visualise and\nanalyse vehicle telemetry (including position if a positioning system is equipped)\n\n\n\n\n\nMAVLink Endpoints\n\n\n\nBased On: ArduPilot Manager | Port:8000\n\n\n\nThe MAVLink Endpoints manager allows configuring the serial, UDP, and TCP\nendpoints for MAVLink-based services and programs to access.\n\n\n\n\n\n\nEndpoints intended for internal BlueOS operations are configured to the\nloopback IP 127.0.0.1\nServer endpoints for external use are configured to the localhost IP\n\ne.g. 0.0.0.0\n192.168.2.2 may also work\n\n\nClient endpoints for external use are configured to the external IP\n\ne.g. 192.168.2.1 for connecting to a UDP server on the Control Station Computer\n\n\nClient endpoints seem to operate more stably than server ones\nUnprotected endpoints can be removed or disabled\nModifying an endpoint is not possible - a new one must be created instead\n\ne.g. some users may wish to set up a UDP endpoint for connecting to with\nPymavlink from the surface:\n\n\n\n\n\n\n\n\nMAVLink Inspector\n\n\n\nBased On: MAVLink2Rest | Port:6040\n\n\n\nThe MAVLink Inspector provides real-time access to the MAVLink messages being\nsent to the topside computer. It is possible to\n\nfilter for particular messages\nview past and current messages\nclick on messages to see their full details\n\n\n\n\n\n\nFuture improvements will include plotting and comparisons, along with more\npowerful filtering options.\nFor tracking the latest value of a single message type, use the \"watcher\"\nfunctionality of the MAVLink2REST service (access via the\nAvailable Services page).\n\nNetwork Test\n\n\nBased On: Pardal | Port:9120\n\n\nThe Local Network Test measures real-time latency between BlueOS and the surface\ncomputer, and allows checking the upload and download speeds between them.\nA plot is provided of each test, to help diagnose intermittent issues.\n\n\n\nThe Internet Speed Test allows measuring the latency and upload and download \nspeeds between BlueOS and its internet connection (if one is available).\n\n\n\n\nNMEA Injector\n\n\n\nBased On: NMEA Injector | Port:2748\n\n\n\n\nConveys GPS positions (from an NMEA device) to the vehicle via MAVLink messages\n\n\n\n\n\n\n\nSetup requires a UDP or TCP socket for the NMEA device to connect to, and a MAVLink ID\nfor the component that will send the location data to the vehicle\n\n\n\n\n\nPing Sonar Devices\n\n\nBased On: Ping Service | Port:9110\n\n\nNew in 1.1\nThe Ping Sonar Devices page shows any detected \nsonars from the Ping family,\nincluding ethernet-configured Ping360s\nthat are visible on the local network (e.g. via an \nEthernet Switch).\n\nAllows configuring Ping Sonar distance estimates to send as MAVLink\nDISTANCE_SENSOR\nmessages to the autopilot, for viewing in the Control Station Software and\nlogging as part of the telemetry stream\nProvides a viewing utility for devices connected via USB/serial, to show\nwhich port they are plugged into \n\n\n\n\n\nSerial Bridges\n\n\n\nBased On: Bridget | Port:27353\n\n\n\nThe Serial Bridges page allows creating high performance links between serial\ndevices that are connected to the onboard computer, to a UDP port. \nReplaces the Routing\nfunctionality from the old Companion Software.\nFor making connections to the autopilot, see MAVLink Endpoints.\n\n\n\n\n\n\nNOTE: UDP-based systems do not guarantee packet delivery or sequential alignment\nBridges to the Control Station Computer\nwill generally use the localhost IP 0.0.0.0, which creates a UDP server that waits\nfor a UDP client on the control computer to connect to it\n\nother IP addesses create a UDP client on the onboard computer, which expects the\nserial device to initiate communication before the connected UDP server (on the\ncontrol computer) can respond\nNOTE: a client should communicate with the server at least once every 10 seconds\nto avoid being disconnected\n\n\nBridges to internal programs can use the loopback IP 127.0.0.1, which creates a\nlocal server\n\n\n\n\n\nSystem Information\n\n\nBased On: System Information | Port:6030\n\n\nThe System Information page provides useful information about the processes,\nnetwork configuration, and computer system BlueOS is running on. It can be\nuseful for troubleshooting, and finding if a particular program is using\nexcessive resources.\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nUpdate buttons are provided if the device is not running the latest stable versions of\nthe Raspberry Pi firmware or USB controller.\n\n\n\n\n\nTerminal\n\n\n\nBased On: ttyd | Port:8088\n\n\n\nThe Terminal provides\n\nA tmux session\n\nCan split horizontally (CTRL+b \") and vertically (CTRL+b %), and use cursor\nto resize the panels\nFor more advanced tips, check out the\ntmux cheat sheet website\n\n\nDirect access into the core BlueOS docker container\nReady access to the tmux sessions of the core services (CTRL+b s)\n\nUseful for seeing logs as they update live\nCan kill services if necessary\n\n\nAccess to the underlying device via the red-pill utility\n\nCan return to the core container using the exit command, or pressing CTRL+d\nCan list available docker images (including extensions) with docker image list\nCan list active docker containers (including extensions) with docker ps -a\n\n\n\n\n\n\n\nVehicle Setup\nNew in 1.1\nThe Vehicle Setup page provides an overview of the vehicle, including its sensors and\nperipherals. The 3D model can be rotated, and can be panned by clicking and dragging\nwhile holding SHIFT. The camera icon can be used to capture a screenshot of the current\nview of the model, with a transparent background.\n\nIt is possible to override the displayed 3D model by placing an appropriate .glb\nfile at userdata/modeloverrides/<vehicle_type>/<vehicle_frame>.glb (e.g.\nuserdata/modeloverrides/sub/VECTORED_6DOF.glb), or userdata/modeloverrides/ALL.glb.\nDocumentation for the recommended process for creating a .glb file from a vehicle\nmodel is coming soon.\n\n\n\n\nThe PWM Outputs tab allows configuring the servo function mappings\n(for motors, lights, camera tilt, etc), as well as manually testing the motors.\n\n\n\nThe Configure tab allows loading default parameter sets for a particular vehicle type.\n\n\n\nIn future this page will also allow \n\nrunning ArduSub's automatic motor direction detection\ncalibrating the autopilot sensors\nusing custom highlighting logic for model components\ndisplaying device statuses from extensions\n\nVideo Streams\n\n\nBased On: MAVLink Camera Manager | Port:6020\n\n\n\nBlueOS automatically detects H264-encoded video streams\n\n\n\nMJPG and YUYV encoded streams are also detected in pirate mode,\nbut currently only work when configured as RTSP streams\n\n\n\nThe first time BlueOS starts up it will auto-configure any cameras that are \nconnected at that time, with UDP streams counting up from port 5600\n\ne.g. a second camera at first startup would be streamed to port 5601\nAuto-configuration also occurs if the settings are reset\n\napplies to both global settings resets (via the sidebar) and\ncamera manager settings resets (via the settings icon in the bottom right)\n\n\n\n\nAfter the initial startup, settings are saved and persistent across reboots\n\nFurther changes require manually re-configuring streams\nNew streams need to be manually added\n\nUDP stream endpoints should be set to udp://<surface-IP>:<port>\n\ne.g. udp://192.168.2.1:5602\n\n\nRTSP stream endpoints are auto-configured with appropriate values\n\n\nOne video input can have multiple output streams by clicking the blue +\nsymbol during stream configuration\n\nThis only works for streams of the same endpoint type (e.g. it is not\ncurrently possible to mix UDP and RTSP output streams for the same input)\n\n\n\n\n\n\n\n\n\n\n\n\nBy default the streams are also presented via MAVLink, so QGroundControl (>=v4.1.7)\ncan toggle between them without needing to know specific ports\n\n\n\nIt is possible to specify a stream as \"thermal\", which allows it to be\noverlaid on another stream in some viewing applications\n\n\n\n\n\n\nCamera settings (brightness, exposure, etc) that are exposed via UVC can be\nconfigured with the \"Configure\" button\n\n\n\n\n\nCamera settings are also exposed via the\nMAVLink camera protocol, so are\ncontrollable in QGroundControl\nSwitching streams in QGroundControl while recording stops the current recording\n\nIf you are regularly switching streams it may be worth doing a screen recording\neither instead of or as well as recording the base video\n\n\nQGroundControl does not yet support displaying multiple streams simultaneously\n\nAdditional streams can be processed/viewed/recorded by the options discussed\nhere\n\nNote that some playback applications (e.g. VLC) treat odd-numbered ports\nas audio channels, so relevant video streams should only use even-numbered\nports\nUDP streams have the option to download an SDP file (or copy a URL to it),\nfor easier video playback in applications like VLC (New in 1.1)\n\n\n\n\nRaspberry Pi cameras are supported (New in 1.1)\n\nDetection requires turning on legacy camera support:\n\nturn on via the settings button in the buttom right corner\nreboot the onboard computer to enable\n\n\n\n\n\n\n\nIt is possible to use the \"Redirect source\" element to make an ethernet camera\navailable via the BlueOS camera manager, which allows QGroundControl to detect\nit automatically (via MAVLink)\n\n\n\n\n\n\n\n\nExtensions\nExtensions Manager\nNew in 1.1\n\n\nBased On: Kraken | Port:9134\n\n\nThe Extensions Manager is in charge of fetching, installing, updating, and managing\nExtensions.\nThe Store tab shows\nthe available extensions,\nwhich can be clicked to see information about the extension (including the settings,\npermissions requirements, and developer information), and allows selecting the version\nto install:\n\n\n\n\n\n\nThe Installed tab shows the resource usage of the installed extensions, and allows\nconfiguring them, checking their logs, and restarting or disabling them:\n\n\n\n\n\n\n\nDevelopers can install custom extensions as relevant.\n\n\n\n\nInterface Theme\nTheme Content\nVehicle Icon\n\nsquare images work best\nconsider getting an image of your 3D model from the Vehicle Setup page\n\n\n\n\nVehicle Name and mDNS Hostname\n\nthe vehicle name makes it easier to determine which vehicle you are connected to\nchanging the mDNS hostname changes the address you connect to for the browser interface\n\nwired connection (ethernet tether / USB-OTG) -> http://custom.local\nwifi connection -> http://custom-wifi.local\nBlueOS hotspot -> http://custom-hotspot.local\nhttp://blueos.local will still be available for wired connections,\nas a fallback in case the custom name is forgotten\nhttp://blueos-avahi.local is broadcast to all interfaces,\nfor connecting when you're not sure which interface(s) are available\nIP addresses are always available for\nthe interfaces they're configured for, but\nthey're less intuitive to remember than mDNS names\nNOTE: mDNS is available on most modern operating systems, but\n\nfor Windows older than Windows 10, install Bonjour\nfor Linux run avahi-discover on the terminal to see if the avahi service is running\n\nFor reference: Debian, Arch\n\n\n\n\n\n\n\n\n\n\nCompany Logo\n\nsquare images work best\n\n\n\n\n\nTheme Styling\nIt is possible to customise the styling of the BlueOS interface by adding a\ntheme_style.css file at userdata/styles/ in the File Browser.\nThe File Browser can also be used to modify the file, in which case the styles\nare updated at the next page refresh after the file is saved. The save button is\nin the top right corner.\nCSS is commonly used for styling\nHTML webpages, and has an extensive set of features available. For the purposes of\nadjusting the BlueOS theme, the most important thing to understand is\nhow to specify colors. It can be\nhelpful to use tools like colorhexa when\nchoosing a palette of colors, including for checking accessibility for various\ncolor vision deficiencies.\nFor reference, here is an example with most of the main BlueOS colors changed,\ntogether with the theme file that created it:\n\n\n\n\n\n:root {\n --v-primary-base: #CAB1E5 !important; /* sidebar highlights, submit buttons */\n --v-info-base: #BA55E5 !important; /* info boxes (often same as primary base) */\n --v-warning-base: #EDD1E5 !important; /* warnings and skip buttons */\n --v-error-base: #AC1D1C !important; /* notifications, pirate icons, cancel/delete buttons */\n --v-anchor-base: #5A11ED !important; /* hyperlinks */\n}\n\n/* light theme background, light to dark */\ndiv.light-background {\n background-color: #BAFF1E !important;\n background-image: linear-gradient(160deg, #BAFF1E 0%, #5CA1E5 100%) !important;\n}\n\n/* dark theme background, light to dark */\ndiv.dark-background {\n background-color: #5EABED !important;\n background-image: linear-gradient(160deg, #5EABED 0%, #BA55E5 100%) !important;\n}\n\n/* light theme header bar background, light to dark, translucent */\nheader.light-background-glass {\n background-color: #DEADBA55 !important; /* fallback if gradient not available */\n background-image: linear-gradient(160deg, #DEADBA88 0%, #5111CA88 100%) !important;\n backdrop-filter: blur(4.5px) !important;\n -webkit-backdrop-filter: blur(10px) !important;\n}\n\n/* dark theme header bar background, light to dark, translucent */\nheader.dark-background-glass {\n background-color: #5111CA55 !important; /* fallback if gradient not available */\n background-image: linear-gradient(160deg, #5111CA88 0%, #0B5E5588 100%) !important;\n backdrop-filter: blur(4.5px) !important;\n -webkit-backdrop-filter: blur(10px) !important;\n}\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/advanced-usage/","path":"/software/onboard/BlueOS-1.1/advanced-usage/","title":"Advanced Usage"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/":{"body":"","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/","path":"/software/onboard/BlueOS-1.1/development/","title":"Development"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/bootstrap/":{"body":"Function\nBlueOS-bootstrap is responsible for making sure BlueOS-core is running as expected, as well as gracefully restarting core during BlueOS updates and if it is detected to have unexpectedly stopped/crashed. \nFor an update the current core image gets shut down and the newly installed image gets started in its place, whereas in the case of a crash bootstrap reverts to running a known working core image, which is currently the one tagged as factory (which is whatever it was first flashed with), so that it's at least possible to access the interface.\nCodebase\nBlueOS-bootstrap is open source, and lives within the broader BlueOS GitHub repository. Issues can be used to report bugs or suggest features, and Pull Requests fixing bugs or adding new features are welcomed.\nBlueOS is set up with a GitHub Action that automatically builds and deploys a BlueOS-bootstrap image when changes are pushed to the GitHub repository.\nIf you want to make use of that functionality you'll need a DockerHub account, and will need to specify your DockerHub username (DOCKER_USERNAME) and password (DOCKER_PASSWORD) in your fork's GitHub secrets.\nUpdating\n\n⚠️ BlueOS-bootstrap is a critical component of running BlueOS, and can significantly affect the system stability. It should only be updated when necessary, and preferably at times where the onboard computer hardware is accessible in case something goes wrong. For normal users it is strongly recommended to only update BlueOS-bootstrap to match stable releases of BlueOS, and even then only if there is a known issue an update is expected to fix or improve.\n\nBlueOS-bootstrap versions are built at the same time as BlueOS-core versions, and they get bundled together in the Raspberry Pi images that can be flashed onto an SD card to install BlueOS onto it. For official BlueOS releases it is possible to update the BlueOS-bootstrap image to match the BlueOS release through the BlueOS Version chooser, and is the recommended process.\nManually updating to a non-matched and/or custom bootstrap image requires using the Terminal:\n# drop down from blueos-core into the underlying operating system:\nred-pill\n# get the running bootstrap container id\nCURRENT_BOOTSTRAP_CONTAINER=$(docker ps -aq --filter name=blueos-bootstrap)\n# stop the bootstrap container (takes 10 seconds)\ndocker stop $CURRENT_BOOTSTRAP_CONTAINER\n# remove the container from local memory\n# (the underlying image remains on the system, unused)\ndocker container rm $CURRENT_BOOTSTRAP_CONTAINER\n# specify the Docker image source (use your account if testing a change)\nBOOTSTRAP_REPO=bluerobotics\nBOOTSTRAP_IMAGE=blueos-bootstrap\n# specify the new version to use (e.g. 1.1.0-beta.27, or master)\nNEW_BOOTSTRAP_VERSION=1.1.0-beta.27\n# start running the new version\n# (will automatically download if it's not already available locally)\ndocker run \\\n -d -t \\\n --restart unless-stopped \\\n --name blueos-bootstrap \\\n --net=host \\\n -v /root/.config/blueos/bootstrap:/root/.config/bootstrap \\\n -v /var/run/docker.sock:/var/run/docker.sock \\\n -e BLUEOS_CONFIG_PATH=/root/.config/blueos \\\n $BOOTSTRAP_REPO/$BOOTSTRAP_IMAGE:$NEW_BOOTSTRAP_VERSION\n# view the logs, to check for any error or progress messages\ndocker logs -f $BOOTSTRAP_IMAGE\n# press ctrl+c to return to the terminal, and you're done\n# if you want, type 'exit' or 'logout' to return to the BlueOS-core container\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/bootstrap/","path":"/software/onboard/BlueOS-1.1/development/bootstrap/","title":"BlueOS-bootstrap"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/core/":{"body":"Function\nBlueOS-core is the body of BlueOS, and runs all of the built in services, along with the main web interface. It contains the key components for running, configuring, and operating a robotic vehicle, as well as a variety of convenience features to aid with system introspection and development.\nCodebase\nBlueOS-core is open source, and lives within the broader BlueOS GitHub repository. Issues can be used to report bugs or suggest features, and Pull Requests fixing bugs or adding new features are welcomed.\nBlueOS is set up with a GitHub Action that automatically builds and deploys a BlueOS-core image when changes are pushed to the GitHub repository.\nIf you want to make use of that functionality you'll need a DockerHub account, and will need to specify your DockerHub username (DOCKER_USERNAME) and password (DOCKER_PASSWORD) in your fork's GitHub secrets.\nThe BlueOS Version chooser can be used to install a custom image by either\n\nChanging the \"Remote\" to your DockerHub repository, then installing like you would normally\nDoing a \"Manual Upload\" of a .tar compressed BlueOS-core Docker image\n\nStructure\n\nDockerfile (and corresponding .dockerignore file) for building the BlueOS-core Docker image\n**/install-*.sh scripts that the Dockerfile uses to install the tools, libraries, and services\ntools scripts used to install the underlying programs used by the service backends\nconfiguration files that the Dockerfile moves to appropriate locations for the programs they apply to\nstart-blueos-core script that runs when the BlueOS-core container gets started\n\nResponsible for configuring and starting the services\n\n\nlibs code libraries of shared functionality available to the service backends\nservices code for running the services\n\nMostly Python backend code, often wrapped around / making use of a program installed by tools\nSome frontend code, for services that have a frontend that opens in its own window\n\n\nfrontend web code for displaying the BlueOS web interface, including the main interface elements for the services\n\n/public: browser tab icons and the like\n/src:\n\nMostly Vuetify visual components and Typescript interface code\n/assets: styling, images, and models used throughout the web interface\n\n\n\n\n\nServices\nBlueOS provides automatic detection of Available Services,\nwhereby any HTTP server with a title tag is found and listed.\nThis is particularly helpful for testing out API calls, both for development and debugging purposes.\nDocumentation can also be parsed if\n\nit follows the Swagger / OpenAPI specification, and\nis available at /docs or /v1.0/ui\n\nThe services built into BlueOS are as follows:\nService NamePurposeWebpage(s)?Tool(s)?Frontend?\nArduPilot ManagerHandles ArduPilot firmware connection, flashing, and MAVLink routing.- Autopilot Firmware - MAVLink Endpoints- tools/ardupilot_tools- views/Autopilot.vue - views/EndpointView.vue - components/autopilot - store/autopilot.ts - store/autopilot_manager.ts - types/autopilot.ts - types/autopilot/parameter*.ts\nAvailable ServicesFinds and lists available HTTP servers and their API documentation.- Available Services--- views/AvailableServicesView.vue - components/scanner - store/servicesScanner.ts\nBag of HoldingA simple key-value storage API, used for storing and retrieving data as JSON objects through HTTP requests.- Bag Editor--- views/BagEditorView.vue - store/bag.ts\nBeacon ServiceHandles mDNS domain advertisement and local network vehicle identification--- tools/dnsmasq- components/beacon - store/beacon.ts - types/beacon.ts\nBlueOSThe main BlueOS interface- Dashboard- tools/nginx- views/MainView.vue - components/app - components/notifications - store/frontend.ts - store/settings.ts - types/notifications.ts\nBridgetManages serial bridges.- Serial Bridges- tools/bridges- views/BridgesView.vue - components/bridges - store/bridget.ts - types/bridges.ts\nCable-guyManages ethernet IP(s) and DHCP server configuration----- components/ethernet - store/ethernet.ts - types/ethernet.ts\nCommanderProvides access to the operating system, and allows running arbitrary bash commands in the core docker container.------\nFile BrowserProvides a graphical interface to the file system.- File Browser- tools/filebrowser- views/FileBrowserView - types/filebrowser.ts\nhelperLists available webpages- Sidebar--- types/helper.ts\nKrakenManages extensions and the extension store.- Extensions Manager--- views/ExtensionView.vue- views/ExtensionManagerView.vue - components/kraken - types/kraken.ts\nlog_zipperZips old log files to reduce space usage.------\nLog BrowserAllows browsing, downloading, and viewing autopilot log files.- Log Browser- tools/logviewer- views/LogView.vue - components/logs\nMAVLink Camera ManagerManages camera and video stream pipelines, and presents them over MAVLink.- Video Streams- tools/ mavlink_camera_manager- views/VideoManagerView.vue - components/video-manager - store/video.ts - types/video.ts\nMAVLink2RestA REST-based interface to the MAVLink network- MAVLink Inspector - Autopilot Parameters - Vehicle Setup- tools/mavlink2rest- views/MavlinkInspectorView.vue - components/mavlink - components/mavlink-inspector - store/mavlink.ts - types/mavlink.ts - views/ParameterEditorView.vue - components/parameter-editor - types/parameter_repository.d.ts - views/VehicleSetupView.vue - components/vehiclesetup\nNMEA InjectorInjects NMEA GPS position messages into the MAVLink stream.- NMEA Injector--- views/NMEAInjectorView.vue - components/nmea-injector - store/nmea-injector.ts - types/nmea-injector.ts\nPardalHelps to perform network speed and latency tests.- Network Test--- views/NetworkTestView.vue - components/speedtest\nPing ServiceDetects and manages Ping family sonar devices.- Ping Sonar Devices- tools/bridges- views/Pings.vue - components/ping - store/ping.ts - types/ping.ts\nSystem InformationProvides access to and information about the system status and operating system.- System Information- tools/linux2rest- views/SystemInformationView.vue - components/system-information - store/system-information.ts - types/system-information - widgets\nttyd - TerminalProvides a web-based terminal.- Terminal- tools/ttyd - tools/scripts- views/TerminalView.vue\nVersion ChooserManages BlueOS version selection and updates.- BlueOS Version--- views/VersionChooser.vue - components/version-chooser - types/version-chooser.ts\nWifi ManagerManages wifi detection and hotspot configuration.--- tools/hotspot- components/wifi - store/wifi.ts - types/wifi.ts\n\nContributions\nAdding a Flight Controller\nAdding USB detection support for a new type of flight controller board is reasonably straightforward, but does require a few different steps:\nFind the USB device information\n\nConnect your flight controller board via USB1 to a computer running BlueOS\nGo to the BlueOS Terminal page\nOpen a Python console (run the python3 command)\nRun from serial.tools.list_ports import comports\nRun from pprint import pprint\nRun [pprint(port.__dict__) for port in comports()]\nGet the \"product\" and \"manufacturer\" values for your flight controller board\n\n1\nNon-USB serial connections are not yet supported.\n\nFind the flight controller hardware information\n\nGo to the ArduPilot hardware definition files\nFind the folder corresponding to your flight controller board\nFind the APJ_BOARD_ID variable in the hwdef.dat or hwdef.inc file\n\nAdd the board, and confirm it works\n\nFork the BlueOS repository\n\nYou'll need a GitHub account to do this\n\n\nClick where it says master, and create a new branch (e.g. add-pixhawk-6C)\nNavigate to core/services/ardupilot_manager/typedefs.py and add your board's name and type to the Platform class\n\nUse PlatformType.Serial for USB/serial connections - Linux is reserved for sensor/peripheral expansion boards that run the autopilot firmware directly on the Onboard Computer\n\n\nNavigate to core/services/ardupilot_manager/flight_controller_detector/board_identification.py and add appropriate SerialBoardIdentifier instances to the identifiers list (using the \"product\" and \"manufacturer\" values from earlier)\n\nThe \"product\" is more important/useful, because one \"manufacturer\" can make multiple different board types\n\n\nNavigate to core/services/ardupilot_manager/firmware/FirmwareInstall.py and add your board to the get_board_id function (using the APJ_BOARD_ID value from earlier)\nIf you did your code modifications in GitHub skip to the next step - if you're editing the files in a local clone make sure to git commit and git push back up to your GitHub fork of the repository\nGitHub should prompt you that there are recent changes in your new branch - click the prompt to submit a Pull Request to the upstream Blue Robotics repository\n\nThe \"files\" tab of your pull request should look similar to this example\n\n\nWait for the GitHub actions to complete (at the bottom of your pull request), then find the build action corresponding to your branch, and download the BlueOS-core-docker-arm-v7 artifact from it\nGo to the BlueOS Version Chooser, scroll down to the bottom, and \"manual upload\" the artifact you downloaded\nOnce BlueOS has restarted, see whether the flight controller board is being detected as an autopilot in the Autopilot Firmware page\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/core/","path":"/software/onboard/BlueOS-1.1/development/core/","title":"BlueOS-core"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/extensions/":{"body":"\n💡 This page provides context and development guidance for Extensions. For installing and using Extensions please refer to the Extensions Manager section of the Advanced Usage page.\n\nContext\nOne of the primary aims of BlueOS is to be a platform that is readily extendable to the needs of each user. For maximum utility it should be easy to add support for custom hardware, add components to the user interface, and share developments with other BlueOS users, without compromising the base BlueOS experience.\nAccordingly, BlueOS has been designed with a containerised architecture, so the core functionality is kept separate from Extensions, and each can be distributed and updated independently of the other. The built in Extension system allows developers and users to find and install add-on software packages to BlueOS, and manage updates, permissions, and resource limits of those Extensions through the Extensions Manager.\nImplementation\n\n⚠️ The BlueOS Extensions system is currently still in a beta stage of development, so some implementation changes are expected in the near future.\n\nThe BlueOS Extensions system consists of three major components:\n\nExtension Packages, which are installable applications (Extensions) that run on the BlueOS computer, alongside BlueOS-core and BlueOS-bootstrap\nBlueOS Bazaar, an online web store that allows BlueOS users to find and install Extension Packages, and provides a standardised place for developers to offer Extensions through\n\nAnyone can see which Extensions are available, so (for example):\n\nDevice manufacturers can show that their hardware is supported on BlueOS vehicles\nUsers looking for hardware functionalities can find relevant device manufacturers\n\n\n\n\nThe Extensions Manager, a BlueOS-core service that's in charge of fetching Extension Packages from the Bazaar, as well as running active Extensions, and monitoring and limiting their resource usage and hardware access\n\n\n💡 In future there will also be support for file-based Plugins, which will extend the functionality of a running Docker Container (e.g. themes or 3D models for BlueOS-core, or extra components and/or documentation for a particular Extension). These will also be shareable and installable through the Bazaar.\n\nComponents: Anatomy of an Extension\n\n\n\nAt heart, a BlueOS Extension is some functionality (optionally with a web interface) packaged into a Docker Image, and combined with some metadata that allows it to be found, shared, and managed. Extensions may interface with existing services provided by BlueOS (or other Extensions), and some Extensions may create persistent logs and/or make use of data or files provided by the user.\nOnce installed, an Extension Package can be run as a Docker Container, which normally occurs automatically when the vehicle turns on, but can also be manually disabled/enabled via the Extensions Manager. When running, Extensions can have custom permissions assigned, which can limit resource-usage and/or allow access to parts of the host computer's hardware.\nWhere Does the Code Run?\nTo integrate well within BlueOS, extensions typically include a backend service that runs on the onboard computer (in the vehicle), which provides some functionality, and is often accessed by a frontend interface that runs in the control station computer's browser.\n\n\n\nA common usage process would follow:\n\nVehicle turns on, BlueOS-bootstrap initiates BlueOS-core, backend service starts\nA user requests the extension's frontend interface, from the browser in their control station computer\nExtension backend serves a web interface to the browser\nUser interacts with the interface, via some kind of input\n\nbutton clicks, text submissions, joystick events, etc.\n\n\nFrontend makes API calls to its backend service to facilitate the desired interaction(s)\nBackend receives an API call, processes it, and responds appropriately\n\nprocessing typically involves logging the request, accessing some hardware, calculating something, and/or requesting something from another service\n\n\nFrontend receives the response from the backend, and updates the interface accordingly\n\nthe frontend may also do some processing, such as decoding an image to display to the user\n\n\nRepeat from step 4. until further interaction is no longer required\n\nBackend Services\n\nCommunicate with each other services (via APIs)\nTypically run continuously while the vehicle is on\nHave access to the vehicle computer hardware, including connected devices and the filesystem\nMay have internet access, if the vehicle computer does\nMay serve a graphical web-interface that's accessible via the frontend\n\nExtensions without a graphical interface could include device drivers and/or something with fully pre-determined functionality (that doesn't require user input)\n\n\n\nFrontend Interfaces\n\nOnly run when opened by a user\n\nCould be run by multiple users simultaneously, on separate devices that are on a shared network\n\n\nCan do some processing\n\nThis can be useful to reduce the amount of data that needs to be sent from the vehicle to the control station computer (e.g. send an encoded image, which the frontend decodes and displays), or to offload some processing/calculations that would otherwise need to be done by the onboard computer\n\n\nCan communicate with their backend (via its API)\n\nIt is also possible to communicate directly with other service APIs, but then the backend doesn't know about that interaction, which can make logging and debugging more challenging\n\n\nMay have internet access, if the control station computer has it\n\nThis can be useful for accessing cloud-based services, such as live-streaming, remote data storage/sharing, map downloading, etc.\n\n\nMay work as a standalone application, if the functionality/logic is all in the frontend\n\nA HTTP server1 is still needed, to serve the frontend files for the static webpage\nPossible use-cases include calculators, image processing tools, documentation, etc.\n\n\n\n1\nYou can use programs like simple-http-server to serve static files for an Extension.\n\nHow Does it Get There?\n\n\n\nEvery Extension has a backend, whereby:\n\nA Dockerfile is used to create a Docker Image of a program / the onboard functionality\nThe Image gets uploaded to a Docker Repository, and (optionally) published on the BlueOS Bazaar\nBlueOS installs the Image (via Bazaar, or manually), and runs it as a Docker Container\n\nBlueOS monitors and restricts resources, and restarts Extensions that fail unexpectedly\n\n\n\nFrontend interfaces are optional, but well-supported:\n\nSome device drivers and the like require no/minimal configuration, so may not require a frontend\nServices that provide a frontend can be automatically detected by BlueOS for convenience \n\nMetadata (Dockerfile)\nThe process of packaging a set of programs and files into a Docker Image requires a Dockerfile, which can be thought of as recipe for building the Image.\nFor an Extension to be properly managed and shareable, the Dockerfile it's created from should include relevant metadata2 via the following labels:\n\nLABEL permissions='{}'\n\nThis can be used to set resource limits, including allowing access to specific components of the underlying hardware\nThis must be a valid JSON (use \\ to break lines), which follows the configuration described in the Docker Api\nFor reference, existing permissions can be retrieved from a running Docker Container by running the command docker inspect <container_name>\n\nDo not copy the whole output to use in your Extension - only the minimal requirements for the Extension to work\n\n\nCommon uses of the permissions label include:\n\nMapping/mounting a folder from the host device into the running Container, so the extension can store persistent files\n\nUseful for storing logs, configuration files, and recorded data\n\n\"HostConfig\": {\\\n \"Binds\":[\\\n \"/usr/blueos/extensions/data-logger:/app\",\\\n ]\\\n}\n\n\nAllowing the Container to access connected serial devices / hardware (at /dev/tty*)\"HostConfig\": {\\\n \"Privileged\": true,\\\n \"Binds\":[\\\n \"/usr/blueos/extensions/data-logger:/app\",\\\n \"/dev:/dev\"\\\n ]\\\n}\n\n\nAutomatically mapping port 80 of the Container to a free port in the host, and creating an explicit network bridge to the vehicle's network\n\nRequires using host.docker.internal (i.e. instead of localhost/127.0.0.1) to access BlueOS APIs from inside the Extension, because the Extension is not sharing the BlueOS-core network\n\nLABEL permissions='\\\n{\\\n \"ExposedPorts\": {\\\n \"80/tcp\": {}\\\n },\\\n \"HostConfig\": {\\\n \"ExtraHosts\": [\"host.docker.internal:host-gateway\"],\\\n \"PortBindings\": {\\\n \"80/tcp\": [\\\n {\\\n \"HostPort\": \"\"\\\n }\\\n ]\\\n }\\\n }\\\n}'\n\n\nConstraining CPU/memory usage (half a core)\n\nThis is important if your Extension is CPU or memory-hungry, as we need to ensure it doesn't affect the autopilot's operation\n\n{\n \"HostConfig\":{\n \"CpuPeriod\":100000,\n \"CpuQuota\":20000,\n \"Memory\":209715200,\n }\n}\n\n\n\n\nOur Extensions Examples Repository has some useful examples\n\n\nLABEL version=\"1.0.0\"\n\nPublic Extension releases should use a SemVer-compliant version\nWe recommend using alpha/beta versions for non-stable (development) releases (e.g. 1.0.1-beta.16)\n\n\nLABEL authors\n\nThe individual author(s) who have developed the Extension\nUseful for giving credit, and as a potential support backup\nThis should be a list of JSON dicts, each containing a \"name\" and \"email\" key with corresponding values\n\nLABEL authors='[\\\n {\\\n \"name\": \"Me\",\\\n \"email\": \"me@email.com\"\\\n },\\\n {\\\n \"name\": \"Me Too\",\\\n \"email\": \"me2@email.com\"\\\n }\\\n]'\n\n\nLABEL company (becoming maintainer)\n\nThe person or company responsible for maintaining the Extension\nJSON object in the form{\n \"about\": \"brief description\",\n \"name\": \"Company/Person Name\",\n \"email\": \"email@company.com\"\n}\n\n\n\n\nLABEL readme\n\nA URL pointing to a markdown-based README file\n\nAllows using {tag} to find versioned readme files without manually updating the URLs\ne.g. \"https://https://raw.githubusercontent.com/BlueOS-Community/BlueOS-examples/{tag}/example4-vue-backend/Readme.md\"\n\n\n\n\nLABEL links\n\nAn arbitrary collection of relevant links, in a JSON dict\nRecommended link type examples include{\n \"website\": \"https://...\",\n \"github\": \"https://github.com/...\",\n \"support\": \"mailto:support@company.com\",\n \"documentation\": \"https://docs.company.com/cool-extension/\",\n \"phone\": \"tel:+1234567890\"\n}\n\n\n\n\nLABEL requirements\n\nSemVer-compliant dependency requirements for this Extension to work correctly (with BlueOS and/or other Extensions)\nformat not yet finalised \n\nwill likely be something like repo/extension-name >= version\n\n\n\n\nLABEL type\n\nUseful for broad-strokes filtering when searching for/browsing Extensions\nNot yet implemented in the Extensions Manager\nShould be one of the following strings:\n\n\"device-integration\"\n\"other\"\n\"tool\"\n\"example\" (for Extension examples)\n\n\n\n\nLABEL tags\n\nUseful for finer-grained filtering to help find relevant Extensions\nNot yet implemented in the Extensions Manager\nMust be alpha-numeric (no capital letters, no symbols except dashes)\nLimited to 10 tags per extension\nSome examples (focused around possible Extension functions):\n\n\"positioning\"\n\"navigation\"\n\"mapping\"\n\"data-collection\" (e.g. scientific sensor integrations)\n\"communication\" (e.g. integration of an acoustic modem)\n\"interaction\" (e.g. integration of a gripper / robot arm / brush)\n\n\n\n\n\n2\nThe metadata from the Docker labels is used to populate the Repository Manifest, which is used to include Extensions in the Extensions Manager.\n\nWeb Interface (HTTP Server)\nIf the Extension needs a visual interface3, the recommended approach is to provide a webpage that's accessible via the existing BlueOS web interface.\nTo do so requires the Extension to run a HTTP server1, at which it must serve a register_service endpoint in the format of a JSON dict with the following keys:\n\n\"name\"\n\nThis gets displayed in the sidebar\nA sanitised (lowercase, alphanumeric) form is used to create a named URL for convenient access\n\ne.g. My Software 9000! -> http://blueos.local/extension/mysoftware9000\n\n\n\n\n\"description\"\n\"icon\"\n\nSpecify Material Design Icons in the form \"mdi-icon-name\" (e.g. \"mdi-lightbulb\")\nDefine custom SVG icons as an SVG element (New in 1.2)\n\ne.g. \"<svg role=\\\"img\\\" viewBox=\\\"0 0 24 24\\\" xmlns=\\\"http://www.w3.org/2000/svg\\\">...</svg>\"\n\n\n\n\n\"company\"\n\nThe name of the company/person in charge of maintaining the Extension\n\n\n\"version\"\n\nThe SemVer-compliant version of the API that is accessible through the Extension's HTTP server\nNot required to match the version of the Extension itself\n\ne.g. the Extension may release a version with a new appearance, with no changes to the API/functionality\n\n\nMay be used in dependency requirement checks\n\n\n\"webpage\"\n\nThe official URL for the extension\n\n\n\"api\"\n\nThe official URL for the extension's API\n\n\n\"new_page\" (optional)\n\nBoolean (true/false) specifying whether to open the extension in a new page instead of in a BlueOS frame\n\n\n\nAs an example:\n{\n \"name\": \"BlinkLED\",\n \"description\": \"An intuitive application that blinks a LED.\",\n \"icon\": \"mdi-led-on\",\n \"company\": \"Lights End Darkness\",\n \"version\": \"1.0.1\",\n \"new_page\": false,\n \"webpage\": \"https://github.com/octocat/blink-led-BlueOS-extension\",\n \"api\": \"https://github.com/octocat/blink-led-BlueOS-extension/wiki/api\"\n}\n\nEach Extension service with a register_service endpoint will have an entry in the BlueOS web interface sidebar menu:\n\n3\nYou can choose to not provide a web interface if your extension operates with no user input. The VirtualHere Extension is a relevant example.\n\nFunctionality\nDifferent types of Extensions have different functionality, and there are often a variety of tools available to provide that. When starting to develop extensions, we would generally recommend:\n\nPython to run stuff\n\nFrequently using a web framework like Litestar/Flask/FastAPI to provide the backend of an interface\n\n\nStatic HTML files to contain and display parts of an interface\nOur Extensions Examples Repository has some useful examples\n\nExamples: What do they Look like?\nDevice Integrations\n\nWater Linked UGPS\nWater Linked DVL\nCerulean DVL\nNortek Nucleus\n\nExamples\n\nStatic HTML file\nStatic HTML + MAVLink Communication\nVuetify\nVue Backend\nGPIO Control\n\nOther\n\nVirtualHere\n\nUSB over IP: used to present USB devices connected to the Onboard Computer as though they are plugged in to the Control Station Computer\n\n\nZeroTier\n\nNetwork extension/sharing: used to create a virtual private network that allows managing and controlling a vehicle remotely over the internet\n\n\n\nWhere do they Live?\nOnline Packages\n\nExtension Packages are expected to be hosted on Docker Hub\nTo appear on the Extensions Manager store they must be registered in the BlueOS Extensions Repository\n\nExtensions are added to the store by opening a Pull Request (PR) against the repository, including a metadata.json file and an icon\n\nThis is a good example\n\n\nOnce the PR is merged, a continuous-integration job will automatically use the information from the provided metadata file to access Docker Hub and fetch the labels for all tags that are SemVer-compliant\nThe fetched information is then compiled and published to the Manifest file in the gh-pages branch\n\n\n\nInstalled Extensions\nOnce installed on the Onboard Computer, Extensions are stored at /var/lib/docker in the file-system, but should be managed through the BlueOS Extensions Manager.\nEcosystem Attributes\nCurrent Extensions Manager Features\n\nInstall Extensions from store\nRuns installed Extensions on startup\nTrack CPU and memory usage (per Extension)\nManage/edit permissions (including limiting hardware resource access/usage)\nView Extension logs\nDisable Extensions\nUninstall Extensions that are no longer wanted\nManually update/rollback Extensions (select version)\nCreate a custom Extension configuration\nAllow restarting Extensions\n\nPlanned Extensions Manager Features\n\nNotify users of available updates\nSupport userdata file cleanup from Extensions (checks for dependencies)\nImprove permissions interface (to show what's available/requested)\nSee more / track progress in the Kraken development tracker\n\nDevelopment Process\nDetailed flowchart\nExpected Development Cycle\n\n(If possible) create and test initial backend functionality within BlueOS\nWrap Extension functionality into a Docker Image\nUpload to Docker Hub\nTest locally (using a \"manual\"/development install)\nSubmit the extension to the Bazaar\nGet it accepted\nInstall it from the store\nTest locally\nMake improvements\nUpload a new version\nRepeat from step 6.\n\nInitial Backend Functionality Implementation/Testing\nIf you're starting your Extension from scratch, there are a variety of development tools available within BlueOS and in existing Extensions which can enable implementing and testing your key functionality before you start to package it up for easy installation and sharing. Having the backend functionality tested before trying to package it into an Extension can help to minimise unexpected issues and troubleshooting.\nBasic functionality can be tested from within the core BlueOS Docker container using the provided Terminal, and if you store files that you create in the /usr/blueos/userdata/ directory they will be persistent across BlueOS restarts, and accessible through the File Browser. For a more interactive development experience, you may wish to use an Extension like Jupyter or VS Code.\nExtension Creation and Docker Image Upload\nExtensions are Docker images, so the packaging process involves \n\nCreating a Dockerfile describing what you would like to package and how it should execute, then\nUsing it to build one or more Docker Images for the hardware architectures you wish to support, then\nUploading those images to an online Docker hub/repository, so the Extension can be downloaded and installed on BlueOS devices\n\nOffline/local installs are currently not supported, so this is currently required for BlueOS to be able to find and manage your Extension(s)\n\n\n\nDepending on your starting points and preferred development process/environment, the building and uploading parts can either be performed automatically as part of a CI/CD pipeline, or locally on your development machine. We recommend trying out a QuickStart GitHub repository to familiarise yourself with the process, then deciding how you would like to perform your own development from there.\nQuickStart\nQuickStart repositories serve as a way to get an example Extension up and running as quickly as possible, while also forming a solid basis for continued development of your own Extension functionalities from that point.\n\nCreate a GitHub account and a Docker Hub account\n\"Use this template\" from the top right of a QuickStart GitHub repository\n\nPython QuickStart\n\n\nCreate a Docker repository, to host your Docker images for this Extension\n\nThe name should be something like blueos-extension-image-name (e.g. blueos-quickstart)\n\n\nSet up GitHub Secrets:\n\nDOCKER_USERNAME: your Docker Hub username\nDOCKER_PASSWORD: a Docker Hub access token (Read & Write), to allow your GitHub repository actions to upload Docker images to your Docker Hub account\n\n\nSet up GitHub Variables:\n\nIMAGE_NAME: the name you chose for your Docker repository\nMY_EMAIL: the developer's email address\nMY_NAME: the developer's name\nORG_EMAIL: a support email for the maintaining organisation\nORG_NAME: the name of the maintaining organisation\n\n\nRun the deployment workflow4 to automatically build and upload your Docker image (refresh the page to see its status):\n\n\n\n\n\nOnce the action completes (it may take ~5 minutes) confirm the image is available in your Docker repository\nIf you have a BlueOS device available, try manually installing the extension\n\n4\nThe QuickStart repositories make use of our BlueOS Extension Deployment Action, which is available for use in any GitHub workflow, in case you would prefer to use a custom one.\n\nOffline Building\nWhile we generally recommend automated builds for convenience and consistency, it is also possible to develop, build, and upload Docker images directly from your development computer.\nWe recommend using buildx for cross-platform building, and qemu for emulating arm/v7 on x86-based developer hardware. Our deployment action provides our best-practice steps for Extension packaging, so is a useful starting point.\nThere is also a basic extension template for Extensions that are intended to be built manually.\n\n⚠️ Each supported hardware architecture requires its own Docker Image to be built, which our deployment action helps with.\n\nMulti-hardware support allows your Extension to be run/tested on different hardware, but can make development and maintenance more challenging.\nIn particular, different hardwares have different build requirements, which may have different library compatibilities.\nFor reference:\n\nRaspberry Pi ≤3 boards use the arm/v7 architecture\nRaspberry Pi ≥4 boards use the arm64/v8 architecture, but can typically also run arm/v7 images and software\n\nManual/Development Installs\nTesting each Extension release before making it available to install from the online store is strongly recommended. \n\nGo to the Extensions Manager in BlueOS\nClick on the \"Installed\" tab\nClick the \"+\" icon in the bottom right corner\nEnter the relevant information for your Docker Image, so it can be fetched from Docker Hub\n\nExtension Identifier: dockerusername.base-extension-name\n\ne.g. esalexander.quickstart\nUsed for uniqueness comparisons with other installed Extensions\n\n\nExtension Name: A human-readable name for the Extension\n\ne.g. QuickStart Test\n\n\nDocker image: dockerusername/extension-name\n\ne.g. esalexander/blueos-quickstart\nUsed for finding and downloading the Docker image\n\n\nDocker tag: the branch or tag/version the image was generated from\n\ne.g. main\nUsed for finding and downloading the Docker image\n\n\nCustom settings: the contents of your Dockerfile's permissions LABEL, but with relevant variable substitutions (e.g. $IMAGE_NAME → blueos-quickstart) and without the backslash line continuation characters\n\nUsed for configuration of the Docker container when it's run\n\n\n\n\n\n\nSubmission to the Bazaar\n\nCheck metadata docs, and match the requirements with your Dockerfile\nBuild, and upload a SemVer-compliant Docker Image to Docker Hub\nSubmit a Pull Request (PR) to the extensions repo\n\nInclude an icon, and a user-friendly description\nA nicer form-based interface is on the way, but not yet available\n\n\n\nGetting Your Extension Accepted\n\nCheck for build errors in the Docker Image creation process\nRespond to PR feedback (if there is any)\nBlue Robotics will merge the PR, after which it becomes public\n\nAvailable extensions are visible in the BlueOS extensions manager, as well as in the gallery\nBlueOS Bazaar will provide a filterable and searchable interface for this\n\n\n\nInstalling from the Bazaar\nThe Bazaar is available through the BlueOS Extensions Manager. Once an Extension has been accepted into the Bazaar it should appear automatically, within a few minutes.\nIterating / Release Cycle\nMost programming projects are never fully \"complete\", so it is expected that Extensions will be modified and improved over time. Extension approval only needs to occur when the Extension is first added to the store, so updated releases should become available within 24 hours from when the new version is uploaded to Docker Hub.\nThe expected iteration process is:\n\nMake improvements\nBuild the updated Docker Images and upload them to Docker Hub\n\nShould be tagged with a SemVer compliant tag that’s higher than the previous release\n\nE.g. v1.0.0 → v1.0.1\n\n\n\n\nConfirm the new version is available through the BlueOS Extensions Manager\nInstall and test it\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/extensions/","path":"/software/onboard/BlueOS-1.1/development/extensions/","title":"Extensions (Beta)"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/overview/":{"body":"Technology Stack\nStructure\n\n\n\nConceptually, BlueOS is structured around 4 main components:\n\nBootstrap\nCore\nExtensions\nCloud\n\nDevelopment Infrastructure\nTo understand how BlueOS is developed, it's valuable to understand what it's made of, and the ideas it has been designed around:\n\nContainerised components and services (Docker)\n\nContainerised, individual services are easier to maintain than a monolithic system\nCan restart and update containers with very low risk of needing to re-flash SD card\nIntegrators can create their own Extensions, instead of forking the whole system\n\nAllows Extension and BlueOS version changes without affecting the underlying system\n\n\nDependencies are isolated, so individual services don’t need to compete for versions\nAccess to system and hardware resources can be limited per Extension\n\n\nWeb interfaces and APIs\n\nCore interface provides consistency, control, and displays active services\nServices display links to API documentation → simplifies development\nExtensions Manager makes it easy to find, install, and manage services from others\n\nIncludes a web store, where Extensions can be downloaded from\n\n\n\n\nFrontend (Vue.js, Typescript)\n\nAllows for very reactive components (see heartbeats icon)\nUsing reusable Vuetify components to make it look good\nRelies heavily on Mavlink2Rest (rust-mavlink) for integrating MAVLink with web technologies\n\n\nModern backend technologies\n\nPython (3.9) for simple services\nRust used for critical services\nMAVLink-Router for MAVLink routing\n\n\n\nDocker\nDocker is a lightweight containerisation system that allows packaging one or more software programs into a single executable that can be easily shared across systems. A static package is referred to as a \"Docker Image\", and when it is being run it takes the form of a \"Docker Container\".\nA Docker Container generally acts like an isolated mini operating system, but it's possible to enter a running Container from the host computer to see (and modify) what the programs inside are doing, and access things like logging output. Importantly, changes in a Container do not affect its Image, so they're not persistent1 and it's possible to \"start fresh\" by simply restarting the Container (which creates a new Container from the Image, without any changes from previous instances).\n1\nWhile changes within/to the Container are not persistent, it is possible to make persistent changes to the host's file-system if the Container has access to it (usually via \"HostConfig\": \"Binds\" in the metadata permissions, or volumes).\n\nBootstrap\nBlueOS-bootstrap is responsible for making sure BlueOS-core is running as expected, as well as gracefully restarting core during BlueOS updates and/or if it is detected to have unexpectedly stopped/crashed.\nCore\nBlueOS-core is the body of BlueOS, and runs all of the built in services, along with the main web interface.\nExtensions\nBlueOS has support for Extensions, which are handled by the Extensions Manager service in core.\nExtensions are individual Docker images that run independently of BlueOS, but can hook into the core systems and host system, providing access to additional devices and data streams, as well as modifying / adding to the web interface.\nCloud Infrastructure\nWhile BlueOS itself runs locally on the vehicle, there are various cloud-based services involved that allow downloading new BlueOS releases, installing new autopilot firmware, finding and installing available extensions, finding information about BlueOS, and getting support.\nOf note are\n\nThe BlueOS-docker repository, where BlueOS-core and BlueOS-bootstrap are developed\nThe Blue Robotics DockerHub, where the BlueOS-core and BlueOS-bootstrap Docker images are deployed/hosted\nThe BlueOS-Extensions-Repository, where BlueOS extensions are registered and findable from\nThe ArduPilot Firmware Server, where autopilot firmwares are fetched from\nThe BlueOS documentation (this site)\nThe Blue Robotics Forum, where ideas and questions can be discussed\n\nDeveloper Presentations\nThe BlueOS development team have done some presentations about what BlueOS is for, and how it can be used / integrated with. Bear in mind that presentation recordings are snapshots of history, and the information in them gets outdated over time as development progress is made.\nBlueOS Development Features\nArduPilot Developers Unconference (March 2023)\n\nIntroduction to BlueOS\nArduPilot Developers Unconference (April 2022)\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/overview/","path":"/software/onboard/BlueOS-1.1/development/overview/","title":"Overview"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/getting-started/":{"body":"Network Configuration\nYour topside computer’s network configuration should be the same as for the previous Companion software.\nTo configure it, you can follow our network setup instructions.\nWeb Interface\nBlueOS is designed as a modular collection of services, which are accessed and configured via a combined web interface.\nThe web interface monitors the autopilot and other main software components. It also listens for and displays connections from other HTTP servers (on TCP ports), which allows extensions and custom integrations to provide an interface through BlueOS while remaining independent from the main BlueOS release/update cycle.\nInterface Access\n\nBy default you can access BlueOS via blueos.local\n\nThis applies if the BlueOS device is connected to via a direct ethernet connection, or USB-OTG\nOn an ethernet connection you can also access BlueOS via its static IP address (192.168.2.2)\n\n\nWhen BlueOS is connected to the same wifi network as your device you can also connect with it using blueos-wifi.local\nBy default if BlueOS does not have a wifi connection configured within 5 minutes of booting, it will start its own wifi hotspot which, when connected to, allows accessing the BlueOS interface via blueos-hotspot.local\n\nThe hotspot SSID is BlueOS (******), with password blueosap\n\n\n\nWizard\nWhen BlueOS is newly installed the interface provides a configuration wizard to help get things set up. \nThe Welcome section allows skipping the wizard if BlueOS and your vehicle have already been configured as desired:\n\n\n\nTo support BlueOS and autopilot firmware updates, it is recommended for BlueOS to be connected to the internet:\n\n\n\nBlueOS supports multiple vehicle types, and allows selecting a quick-setup option for the most common ones:\n\n\n\nVehicle quick-setup involves setting appropriate parameters for the selected vehicle type and frame, as well as choosing a name for your vehicle, and changing the mDNS hostname if you would prefer to connect with something other than http://blueos.local:\n\n\n\nProgress is displayed for any selected configuration changes, and an up to date autopilot firmware is downloaded and installed (if using a standard vehicle type):\n\n\n\nA completion window is shown once all configuration is done:\n\n\n\nInterface Features\nWhen you first open the web interface, you'll see a page that looks like this:\n\n\n\nAs a brief overview,\n\nthe header contains system health indicators and notifications, and some network and display configuration options\nthe sidebar allows navigating between pages, and allows restarting, freeing up space, and reporting issues\nmost pages show their content within the BlueOS interface sections, but some extensions open as full pages in a separate tab\n\nFor more details see the Advanced Usage Interface Overview section.\nUpdating / Releases\nBlueOS supports multiple release types - we recommend the latest stable version for most people. Releases and change-logs are available on the GitHub releases page.\nConnect Internet\nWhen starting out, it's important to connect your vehicle to the internet so you can update to the latest suitable release.\nInternet connectivity is possible via either wifi or passed through a tether.\nConnect Wifi\n\n\nFirst, click the wifi indicator to scan for available wifi networks\n\n\n\nSelect the desired network, type in the password, and click connect\n\n\n\nOnce connected, the wifi icon will change to show the signal strength, and the connected wifi network will be selected on the menu\n\n\n\nTether Passthrough\n\nmacOS instructions\nWindows instructions\n\nWindows 10 troubleshooting\n\n\nUbuntu (Linux) instructions\nArch (Linux) instructions\n\nOnce the internet passthrough has been configured, the BlueOS header should \nshow that it has internet connectivity.\nSelect Version\nNow that your BlueOS has an internet connection, you can perform the update to the latest available version.\n\n\nClick on the hamburger menu (if the sidebar is not already open)\n\n\n\nUnder Settings, select BlueOS Version\n\n\n\nIf you're already on the latest version, the right side of your Local Version will be blank. If not, you should see a blue Update button.\n\n\n\nOnce the update button is clicked the update process will run.\nPlease wait until it finishes - it will automatically reload the webpage for you.\n\n\nCamera Streams\nBlueOS is capable of configuring and streaming multiple cameras simultaneously. The first time it boots, it will automatically detect any connected H264-capable cameras and start streaming them. If not, make sure your camera is properly connected, and that BlueOS is on the latest available version. Reset settings and restart BlueOS if necessary.\nAdditional information is available in the Advanced Usage Video Streams section.\nUSB OTG\nIt is possible to connect with a Raspberry Pi 4 through its USB-C port1. Once it's connected, the interface should be available though blueos.local2.\n1\nA Raspberry Pi draws more power than many computer USB ports can provide, so a USB-C connection should generally only be used for data transfer, with a separate power supply (or through a powered USB hub).\n\n2\nThe usb0 network interface is configured to use a DHCP server at 192.168.3.1 by default, which does not provide access via the 192.168.2.2 static IP address.\n\nMac configuration\nIf you are using MacOS, make sure to allow the RNDIS/ethernet gadget:\n\n\n\nMacOS will consider a USB-OTG connection as a valid source of internet, which can be avoided by reordering your network interfaces, making sure that wifi and your actual wired internet connection interface are used with higher priority.\n\n\n\n\n\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/getting-started/","path":"/software/onboard/BlueOS-1.1/getting-started/","title":"Getting Started"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/installation/":{"body":"Download\nBlueOS is a ground-up rewrite software to replace Companion. To use it you'll need to download and flash an SD card.\nIt is compatible with both Raspberry Pi 3 and Raspberry Pi 4.\nThe latest available versions are:\n\n\n\n\nFlash\nWe recommend using a fresh SD card, with at least 4GB capacity.\n\nDownload and install Balena Etcher\nInsert the SD card to your computer (you may need an SD card reader)\nOpen Etcher, select the image you just downloaded, and flash it onto the SD card\n\nRun\n\nEject your SD card with the new BlueOS software\nInsert it into your Raspberry Pi, and power it up!\n\nThe first boot may take a couple of minutes, as it expands the filesystem to the new SD card capacity\n\nIt should take around 2 minutes for a 16GB class 10 SD card\n\n\n\n\nBlueOS is a headless operating system, and uses a web interface rather than HDMI to a monitor\n\nSee the Getting Started section for how to connect\n\n\n\nUpdates\nOnce BlueOS is installed, updating to a different version is simple via the Version Chooser.\nManual Installation\nFor developers with alternative hardware, or who would rather install over a pre-installed base operating system / image, BlueOS provides an install directory with utilities to help perform manual/software-based installations.\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/installation/","path":"/software/onboard/BlueOS-1.1/installation/","title":"Installation"},"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/overview/":{"body":"A bit of context...\nThe original Companion Software project (started in 2015) was originally created with the simple intent to route an underwater vehicle's video stream and communications to the surface computer, and provide some basic configuration of those features and the vehicle firmware. The simple scope was great to get things started, but also meant that new and complex features weren't designed in from the start, so maintenance and developing functionality became increasingly challenging.\nWith lessons learned on useful features and software architecture requirements, BlueOS was designed and created from the ground up to fit the requirements of the onboard computer system we want to have - with room to grow into a true operating system for the vehicle. BlueOS is modular to the heart, which makes it portable, robust to update, and extensible. \nWe're super excited about our future with BlueOS, and we can't wait for you to join us and try it out! 😄\nBlueOS principles and goals\nAs the core development team we've tried to envision the future of the onboard computer, and the features that will require. Our initial ideas have been distilled into the following core concepts, many of which are already built in to the BlueOS of today:\n\nAn interface that is simple by default but powerful when needed - the user has the power to change anything they desire and customize the full experience\nDesigned to focus on what matters, improving user access to information and controls with a human-friendly UI and UX\nMake complex tasks simpler and improve ease of use by reusing design patterns from other applications (based on the material UI guidelines)\nAdvanced error handling and detection, making any problems clear to the user and developers, along with how to fix them\nSimplify development, providing full access to our services API and modular development model\nEncourage contributions, the project is open source!\nPortable and flexible, you should be able to run on a Raspberry Pi 3/4 or any SBC with Linux operating system, contributions are welcomed\nHighly functional with low CPU usage, the entire system is built to run efficiently\nDeveloped on solid foundations, critical parts or intensive workforce services are designed using the most advanced languages and features available for stability\n\nSome of these principles will only be evident in future releases, but the underlying software architecture and organization have been designed from the ground up to support and enable them.\nWhat's New in BlueOS-1.1?\nThis covers a summary of the major changes and new features in BlueOS-1.1. Where applicable relevant features are also included in the feature comparison table. For detailed coverage of every change, please see the full release notes.\nExtensions (NEW! - beta)\n\nIndependently installed and run software components, that work together with BlueOS\nUsers can download extensions for the integrations and features they want to use\nDevelopers can create extensions, and share them with others\n\nPage improvements\n\nVehicle Setup (NEW!)\n\nA page providing an overview of the configured vehicle and its connected peripherals\nAllows testing motors, configuring servo outputs, and setting default autopilot parameters\n\n\nPing Sonar Devices (NEW!)\n\nA page to detect connected Ping family devices (including Ping360s connected via an ethernet switch)\nAdds MAVLink toggle for Ping Sonar devices\n\nAllows sending distance estimate to Control Station Software (e.g. QGroundControl)\n\n\n\n\nExtensions Manager (NEW!)\n\nAllows installing and managing BlueOS Extensions\n\n\nAutopilot Parameters (NEW!)\n\nAllows reading and editing parameters from a connected MAVLink autopilot\nIncludes saving to and loading from a file\n\n\nAutopilot Firmware (MERGED \"Firmware\" and \"General\")\n\nExtra information about the currently running firmware was added\nImproved firmware update robustness\nSerial autopilots in bootloader mode can now be detected and flashed\n\nAllows recovering from failed Pixhawk updates\n\n\nCan now choose which autopilot to flash, if multiple are connected\n\n\nVideo Streams (REPLACES \"Video\")\n\nCamera manager now supports Raspberry Pi cameras, and a fake source for testing\nCamera previews are now available when a stream is configured\nRTSP output support added for MJPG and YUYV encoded streams\nMAVLink support improved\n\nAllows Control Station Software (e.g. QGroundControl) to configure camera settings and switch between multiple video streams\nDisabling MAVLink advertising of a video stream is now possible\n\n\n\n\nMAVLink Endpoints (REPLACES \"Endpoints\")\n\nIP address interface now indicates the endpoint type\nEndpoints are now editable\n\n\nSerial Bridges (REPLACES \"Bridges\")\n\nSignificant interface and robustness updates\n\n\nNMEA Injector\n\nSettings are now persistent across boots\n\n\nBlueOS Version (REPLACES \"Version Chooser\")\n\nNew progress bar while downloading and extracting new images\nNow allows updating the bootstrap image\n\n\nSystem Information\n\nNew \"Firmware\" tab, with information about the computer's firmware and bootloader\n\n\nNetwork Test\n\nNew tab for internet connection testing\nNew graph to track upload and download performance during a local network test\n\n\nFile Browser\n\nNew shortcuts to useful parts of the file-system\n\n\nBag Editor (NEW!)\n\nAllows modifying the database that controls frontend interface changes\n\n\n\nMenu and general interface improvements\n\nNew vehicle selection and setup wizard\nNew header widgets\nInterface updated to be mobile friendly, and more aesthetic\nVarious sidebar improvements\n\nNow open by default when the window is wide enough\nPages are now ordered alphabetically, without ambiguous sections\nThere's now a configurable vehicle icon, name, mDNS address, and logo\nIt's now possible to download the latest BlueOS system logs, and reset settings\n\n\nPirate mode is now toggled via the happy-robot/pirate icon in the header\nNetwork, ethernet, and wifi configuration are improved\n\nA hotspot network is now created for devices to connect to if a normal connection does not occur on boot\nRaspberry Pi 4s can now connect via USB OTG ethernet\nNetwork interface priority ordering is now possible\nDNS name server configuration is now available\n\n\n\nAccessibility and Styling\n\nAdded basic theme support for changing the interface colours\n\nDevice/Hardware Support\n\nAdded basic detection and management support for:\n\nthe Cube Orange flight controller\nthe Pixhawk 6X flight controller\nnon-Navigator Linux boards\n\n\nNew amd64 Docker images, for running BlueOS on development machines\n\nFeature Comparison\nBlueOS has almost all features from the old Companion, and several hotly-requested new ones too!\nFeatureBlueOS 1.1BlueOS 1.0Companion\nOnboard Computer→+ Other Linux-based SBCs images to come+ Raspberry Pi 3B / 3B+ / 4B supported+ You can install from scratch using the installation script in any Linux computer. (Modifications may be necessary for your hardware configuration)Raspberry Pi 3B required\nFlight Controller→+ Cube Orange+ Pixhawk 6X→+ Navigator+ Pixhawk 4Pixhawk\nVideo Streams→+ MPEG and YUYV encodings+ Supports Raspberry Pi cameras+ Easily manage multiple streams+ UDP and RTSP outputs- Audio streamingnot yet supported (#990)Select a single camera to stream over UDP+ Supports Raspberry Pi cameras (except HQ Camera)+ Supports a single audio stream over UDP\nWIFI Manager→+ Vehicle provides local hotspot→+ Connect to and manage multiple networks, like a cellphone or computer WIFI managerConnect to a single network+ Visible and hidden networks supported\nEthernet Manager→Multiple static IPs and DHCP configurationSingle DHCP (client or server) or static network\nNotification system→Notifications about issues, new releases, and the status of your system.-\nFile Browser→→+ Edit files from the browserDownload and upload files\nLog Browser→Download and manage logs from the browser+ Visualise and analyse logs from the built in viewerSsh/terminal only\nMAVLink inspector→+ MAVLink2REST \"watcher\" option for individual message typesSee and inspect MAVLink messages in real time from the browserSee latest MAVLink messages via MAVLink2REST\nNetwork test→+ Graph during speed tests→+ Check real time latencyCheck upload and download speed from the Control Station Computer to the vehicle's Onboard Computer\nSystem information→Provides all the necessary information about the hardware, operating system, running processes, CPU, memory, disk, network usage and statusBasic usage statistics, list of connected devices\nWeb Terminal→→+ Uses a tmux sessionAccess Linux terminal from the browser\nAutopilot Firmware→→+ General ArduPilot downloads;+ select vehicle to updatestable, beta, and devel releases, custom uploads, and restore default parameters;ArduSub-only downloads\nAutopilot ParametersView, search, and edit vehicle parameters--\nVersion Chooser→+ Easily update/downgrade between BlueOS versions, including locally stored+ Includes stable, beta, and master releases*+ Available even if main site failingUpdate Companion to latest stable only\nMAVLink Endpoints→→Create and manage UDP, TCP, and serial MAVLink endpoints\nNMEA support→→Conveys GPS positions to the vehicle\nPing Sonar Devices→+ Detects Ping360 in ethernet configuration+ Ping Sonar distance estimates can be sent via MAVLink→+ Devices can be hot-plugged- No MAVLink pipelinePing Sonar and Ping360 can connect with Ping Viewer+ Ping Sonar distance estimates can be sent via MAVLink\nSerial Bridges→→Create and manage bridges between serial and UDP/TCP endpoints\nWater LinkedDVL-A50 and UGPS extensions available through Extensions ManagerDVL-A50 package availableSupports UGPS and DVL-A50\nExtensionsCustom extensions available through Extensions Manager→Custom functionality requires forking the codebase\n\nRelease Types\nBlueOS has multiple release types, to allow choosing your preferred balance between access to the latest fixes and improvements, and stability of the software. The three release types are:\n\nStable: Officially tested and validated\n\nStable versions with long term support\nRecommended for most users\n\n\nBeta: Quick-passed rolling releases with new features, bug fixes and general improvements\n\nVersions that will be released after an internal test\nA taste of what's to come\n\n\nMaster: Rapidly-passed bleeding edge development releases 🔥\n\nThe very latest features, that may not have been tested yet\nHighly volatile, generally not recommended\nFor those who want to live in the future\n\n\n\nWhen BlueOS is connected to the internet, a notification appears if a newer version of the same release or a stabler type is available. E.g: When using a Stable version, only new Stable versions will trigger a notification. If using a Beta release, newer Beta and Stable releases will trigger a notification. When running Master, any release type newer than the active one will trigger a new update notification. This helps to ensure that any updates will be as or more stable than your current version, unless you intentionally change to a less stable release type.\nIt's worth noting that the Version Chooser in general offers several major robustness and versatility improvements over the previous 'latest update only' approach, which should benefit both users and developers.\nQuick links\n\nDocumentation\nSource code\nReleases, changelogs, files\n\n","id":"https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/overview/","path":"/software/onboard/BlueOS-1.1/overview/","title":"Overview"}},"docInfo":{"https://docs.bluerobotics.com/ardusub-zola/":{"body":0,"path":0,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/":{"body":0,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/":{"body":0,"path":2,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/acoustic-modems/":{"body":37,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electrical-switch/":{"body":57,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/electronic-switches/":{"body":59,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/ethernet-switch/":{"body":38,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/grippers-manipulators/":{"body":98,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/indicators/":{"body":30,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/leak-sensors/":{"body":47,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/other-sensors/":{"body":90,"path":3,"title":5},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/positioning-sensors/":{"body":329,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/servos/":{"body":78,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/additional/sonars/":{"body":284,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/":{"body":0,"path":2,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/camera-gimbal/":{"body":70,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/lights/":{"body":40,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/pressure-sensor/":{"body":62,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/recommended/tether-interface/":{"body":99,"path":4,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/":{"body":0,"path":2,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/camera/":{"body":655,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/control-computer/":{"body":217,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/esc/":{"body":99,"path":3,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/flight-controller/":{"body":222,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/joystick/":{"body":143,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/onboard-computer/":{"body":119,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-sensor/":{"body":105,"path":4,"title":4},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/power-supply/":{"body":312,"path":4,"title":3},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/tether/":{"body":65,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/hardware/required/thrusters/":{"body":146,"path":3,"title":1},"https://docs.bluerobotics.com/ardusub-zola/integrations/":{"body":377,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/":{"body":0,"path":1,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/":{"body":0,"path":2,"title":3},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/":{"body":0,"path":4,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/":{"body":0,"path":5,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/":{"body":6327,"path":7,"title":3},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/mavlink-messages/":{"body":758,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/parameters/":{"body":30080,"path":6,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/":{"body":0,"path":3,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/":{"body":0,"path":5,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/advanced-usage/":{"body":1899,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/getting-started/":{"body":209,"path":7,"title":2},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/installation/":{"body":52,"path":6,"title":1},"https://docs.bluerobotics.com/ardusub-zola/software/control-station/Cockpit-1.0/overview/":{"body":227,"path":6,"titl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\ No newline at end of file diff --git a/sitemap.xml b/sitemap.xml index cee00da..e05aae0 100644 --- a/sitemap.xml +++ b/sitemap.xml @@ -191,14 +191,14 @@ https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/advanced-usage/ - 2023-03-08T12:30:00+11:00 + 2024-04-05T01:20:00+11:00 https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/ https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/bootstrap/ - 2023-06-02T18:30:00+11:00 + 2023-12-04T19:30:00+11:00 https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/core/ @@ -206,7 +206,7 @@ https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/extensions/ - 2023-03-08T12:30:00+11:00 + 2024-04-13T17:50:00+10:00 https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/development/overview/ @@ -214,7 +214,7 @@ https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/getting-started/ - 2023-02-23T23:15:00+11:00 + 2023-12-04T20:00:00+11:00 https://docs.bluerobotics.com/ardusub-zola/software/onboard/BlueOS-1.1/installation/ diff --git a/software/onboard/BlueOS-1.1/advanced-usage/index.html b/software/onboard/BlueOS-1.1/advanced-usage/index.html index 110b556..3ff2e11 100644 --- a/software/onboard/BlueOS-1.1/advanced-usage/index.html +++ b/software/onboard/BlueOS-1.1/advanced-usage/index.html @@ -494,8 +494,10 @@

Interface Overview

Header: Indicators and BlueOS Configuration

On the left side of the header there is space for widgets, which can be accessed by -right clicking and selecting the desired widgets to display. This system is very new, -so the available widget options are currently quite limited.

+right clicking and selecting the desired widgets to display. Widgets can be reordered +by clicking and dragging.

+

There are currently widgets available for displaying the CPU and Disk (storage) usage +as percentages, which are periodically updated during operation.

Widgets
@@ -512,7 +514,7 @@
Notifications
Wired network management (ethernet / USB-OTG)
-

Based On: Cable Guy | Port:9090

+

Based On: Cable Guy | Port:9090

For each interface, choose between:

@@ -531,7 +533,7 @@
Wired network management (eth
Wifi + Hotspot network management
-

Based On: Wifi Manager | Port:9000

+

Based On: Wifi Manager | Port:9000
@@ -742,7 +745,7 @@

BlueOS Service Pages

Autopilot Firmware

-

Based On: ArduPilot Manager | Port:8000

+

Based On: ArduPilot Manager | Port:8000

The Autopilot Firmware page provides basic information about the active @@ -842,7 +845,7 @@

Bag Editor

-

Based On: Bag of Holding | Port:9101

+

Based On: Bag of Holding | Port:9101
@@ -855,7 +858,7 @@

Bag Editor

BlueOS Version

-

Based On: Version Chooser | Port:8081

+

Based On: Version Chooser | Port:8081

The Version Chooser is a major component in the robust backbone of BlueOS. It @@ -948,7 +951,7 @@

-

Based On: ArduPilot Manager | Port:8000

+

Based On: ArduPilot Manager | Port:8000
@@ -1016,7 +1019,7 @@

Network Test

-

Based On: Pardal | Port:9120

+

Based On: Pardal | Port:9120

The Local Network Test measures real-time latency between BlueOS and the surface @@ -1035,7 +1038,7 @@

NMEA Injector

-

Based On: NMEA Injector | Port:2748

+

Based On: NMEA Injector | Port:2748
@@ -1058,7 +1061,7 @@

NMEA Injector

Ping Sonar Devices

-

Based On: Ping Service | Port:9110

+

Based On: Ping Service | Port:9110

New in 1.1

@@ -1083,7 +1086,7 @@

Serial Bridges

-

Based On: Bridget | Port:27353

+

Based On: Bridget | Port:27353
@@ -1098,7 +1101,7 @@

Serial Bridges

    -
  • NOTE: UDP-based systems do not guarantee packet delivery or sequential alignment
    • +
  • NOTE: UDP-based systems do not guarantee packet delivery or sequential alignment
  • Bridges to the Control Station Computer will generally use the localhost IP 0.0.0.0, which creates a UDP server that waits for a UDP client on the control computer to connect to it @@ -1106,6 +1109,8 @@

    Serial Bridges

  • other IP addesses create a UDP client on the onboard computer, which expects the serial device to initiate communication before the connected UDP server (on the control computer) can respond
    • +
  • NOTE: a client should communicate with the server at least once every 10 seconds +to avoid being disconnected
  • Bridges to internal programs can use the loopback IP 127.0.0.1, which creates a @@ -1347,7 +1352,7 @@

    Extensions Manager

    New in 1.1

    -

    Based On: Kraken | Port:9134

    +

    Based On: Kraken | Port:9134

    The Extensions Manager is in charge of fetching, installing, updating, and managing @@ -1392,11 +1397,26 @@

    Vehicle Name and mDNS Hostname

  • the vehicle name makes it easier to determine which vehicle you are connected to
  • changing the mDNS hostname changes the address you connect to for the browser interface
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    Codebase

    Updating

    +
    +

    ⚠️ BlueOS-bootstrap is a critical component of running BlueOS, and can significantly affect the system stability. It should only be updated when necessary, and preferably at times where the onboard computer hardware is accessible in case something goes wrong. For normal users it is strongly recommended to only update BlueOS-bootstrap to match stable releases of BlueOS, and even then only if there is a known issue an update is expected to fix or improve.

    +

    BlueOS-bootstrap versions are built at the same time as BlueOS-core versions, and they get bundled together in the Raspberry Pi images that can be flashed onto an SD card to install BlueOS onto it. For official BlueOS releases it is possible to update the BlueOS-bootstrap image to match the BlueOS release through the BlueOS Version chooser, and is the recommended process.

    Manually updating to a non-matched and/or custom bootstrap image requires using the Terminal:

    # drop down from blueos-core into the underlying operating system:
diff --git a/software/onboard/BlueOS-1.1/development/extensions/anatomy.png b/software/onboard/BlueOS-1.1/development/extensions/anatomy.png
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JnZCOn this page
 											
 													
    
   			
@@ -379,17 +439,128 @@ 
    Extensions (Beta)
    
 
    Context
    
 
    One of the primary aims of BlueOS is to be a platform that is readily extendable to the needs of each user. For maximum utility it should be easy to add support for custom hardware, add components to the user interface, and share developments with other BlueOS users, without compromising the base BlueOS experience.
    
 
    Accordingly, BlueOS has been designed with a containerised architecture, so the core functionality is kept separate from Extensions, and each can be distributed and updated independently of the other. The built in Extension system allows developers and users to find and install add-on software packages to BlueOS, and manage updates, permissions, and resource limits of those Extensions through the Extensions Manager.
    
-
    For some additional context and discussion, please see this forum thread about the BlueOS Extensions architecture. Feel free to contribute ideas or ask questions there as relevant.
    
 
    Implementation
    
 
    
 
    ⚠️ The BlueOS Extensions system is currently still in a beta stage of development, so some implementation changes are expected in the near future.
    
 
    
+
    The BlueOS Extensions system consists of three major components:
    
+
      
+
    1. Extension Packages, which are installable applications (Extensions) that run on the BlueOS computer, alongside BlueOS-core and BlueOS-bootstrap
      2. 
+
    2. BlueOS Bazaar, an online web store that allows BlueOS users to find and install Extension Packages, and provides a standardised place for developers to offer Extensions through
+
        
+
      • Anyone can see which Extensions are available, so (for example):
+
          
+
        • Device manufacturers can show that their hardware is supported on BlueOS vehicles
          • 
+
        • Users looking for hardware functionalities can find relevant device manufacturers
          • 
+
        
+
        • 
+
      
+
      3. 
+
    3. The Extensions Manager, a BlueOS-core service that's in charge of fetching Extension Packages from the Bazaar, as well as running active Extensions, and monitoring and limiting their resource usage and hardware access
      4. 
+
    
+
    
+
    💡 In future there will also be support for file-based Plugins, which will extend the functionality of a running Docker Container (e.g. themes or 3D models for BlueOS-core, or extra components and/or documentation for a particular Extension). These will also be shareable and installable through the Bazaar.
    
+
    
 
    Components: Anatomy of an Extension
    
-
    At heart, a BlueOS Extension is some functionality (optionally with a web interface) packaged into a Docker Image, and combined with some metadata that allows it to be found, shared, and managed. Extensions may interface with existing services provided by BlueOS (or other Extensions), and some Extensions may create persistent logs and/or make use of data or files provided by the user.
    
-
    Once installed, an Extension Package can be run as a Docker Container, which normally occurs automatically when the vehicle turns on, but can also be manually disabled/enabled via the Extensions Manager. When running, Extensions can have custom permissions assigned, which can limit resource-usage and/or allow access to parts of the host computer's hardware.
    
+
    
+Anatomy
+
    
+
    At heart, a BlueOS Extension is some functionality (optionally with a web interface) packaged into a Docker Image, and combined with some metadata that allows it to be found, shared, and managed. Extensions may interface with existing services provided by BlueOS (or other Extensions), and some Extensions may create persistent logs and/or make use of data or files provided by the user.
    
+
    Once installed, an Extension Package can be run as a Docker Container, which normally occurs automatically when the vehicle turns on, but can also be manually disabled/enabled via the Extensions Manager. When running, Extensions can have custom permissions assigned, which can limit resource-usage and/or allow access to parts of the host computer's hardware.
    
+
    Where Does the Code Run?
    
+
    To integrate well within BlueOS, extensions typically include a backend service that runs on the onboard computer (in the vehicle), which provides some functionality, and is often accessed by a frontend interface that runs in the control station computer's browser.
    
+
    
+Frontend Backend
+
    
+
    A common usage process would follow:
    
+
      
+
    1. Vehicle turns on, BlueOS-bootstrap initiates BlueOS-core, backend service starts
      2. 
+
    2. A user requests the extension's frontend interface, from the browser in their control station computer
      3. 
+
    3. Extension backend serves a web interface to the browser
      4. 
+
    4. User interacts with the interface, via some kind of input
+
        
+
      • button clicks, text submissions, joystick events, etc.
        • 
+
      
+
      5. 
+
    5. Frontend makes API calls to its backend service to facilitate the desired interaction(s)
      6. 
+
    6. Backend receives an API call, processes it, and responds appropriately
+
        
+
      • processing typically involves logging the request, accessing some hardware, calculating something, and/or requesting something from another service
        • 
+
      
+
      7. 
+
    7. Frontend receives the response from the backend, and updates the interface accordingly
+
        
+
      • the frontend may also do some processing, such as decoding an image to display to the user
        • 
+
      
+
      8. 
+
    8. Repeat from step 4. until further interaction is no longer required
      9. 
+
    
+
    Backend Services
    
+
      
+
    • Communicate with each other services (via APIs)
      • 
+
    • Typically run continuously while the vehicle is on
      • 
+
    • Have access to the vehicle computer hardware, including connected devices and the filesystem
      • 
+
    • May have internet access, if the vehicle computer does
      • 
+
    • May serve a graphical web-interface that's accessible via the frontend
+
        
+
      • Extensions without a graphical interface could include device drivers and/or something with fully pre-determined functionality (that doesn't require user input)
        • 
+
      
+
      • 
+
    
+
    Frontend Interfaces
    
+
      
+
    • Only run when opened by a user
+
        
+
      • Could be run by multiple users simultaneously, on separate devices that are on a shared network
        • 
+
      
+
      • 
+
    • Can do some processing
+
        
+
      • This can be useful to reduce the amount of data that needs to be sent from the vehicle to the control station computer (e.g. send an encoded image, which the frontend decodes and displays), or to offload some processing/calculations that would otherwise need to be done by the onboard computer
        • 
+
      
+
      • 
+
    • Can communicate with their backend (via its API)
+
        
+
      • It is also possible to communicate directly with other service APIs, but then the backend doesn't know about that interaction, which can make logging and debugging more challenging
        • 
+
      
+
      • 
+
    • May have internet access, if the control station computer has it
+
        
+
      • This can be useful for accessing cloud-based services, such as live-streaming, remote data storage/sharing, map downloading, etc.
        • 
+
      
+
      • 
+
    • May work as a standalone application, if the functionality/logic is all in the frontend
+
        
+
      • A HTTP server1 is still needed, to serve the frontend files for the static webpage
        • 
+
      • Possible use-cases include calculators, image processing tools, documentation, etc.
        • 
+
      
+
      • 
+
    
+
    1
+
    You can use programs like simple-http-server to serve static files for an Extension.
    
+
    
+
    How Does it Get There?
    
+
    
+Backend Process
+
    
+
    Every Extension has a backend, whereby:
    
+
      
+
    1. A Dockerfile is used to create a Docker Image of a program / the onboard functionality
      2. 
+
    2. The Image gets uploaded to a Docker Repository, and (optionally) published on the BlueOS Bazaar
      3. 
+
    3. BlueOS installs the Image (via Bazaar, or manually), and runs it as a Docker Container
+
        
+
      • BlueOS monitors and restricts resources, and restarts Extensions that fail unexpectedly
        • 
+
      
+
      4. 
+
    
+
    Frontend interfaces are optional, but well-supported:
    
+
      
+
    • Some device drivers and the like require no/minimal configuration, so may not require a frontend
      • 
+
    • Services that provide a frontend can be automatically detected by BlueOS for convenience 
      • 
+
    
 
    Metadata (Dockerfile)
    
 
    The process of packaging a set of programs and files into a Docker Image requires a Dockerfile, which can be thought of as recipe for building the Image.
    
-
    For an Extension to be properly managed and shareable, the Dockerfile it's created from should include relevant metadata1 via the following labels:
    
+
    For an Extension to be properly managed and shareable, the Dockerfile it's created from should include relevant metadata2 via the following labels:
    
 
      
 
    • LABEL permissions='{}'
 
        
@@ -402,23 +573,37 @@ 
        Metadata (Dockerfile)
        
 
 
      • Common uses of the permissions label include:
 
          
-
        • Mapping/mounting a folder from the host device into the running Container
          "HostConfig":\
-  {\
-    {\
-      {\
-        "Binds":["/var/lib/zerotier-one:/var/lib/zerotier-one"]\
-      }\
-    }\
-  }
+
        • Mapping/mounting a folder from the host device into the running Container, so the extension can store persistent files
+
            
+
          • Useful for storing logs, configuration files, and recorded data
            • 
+
          
+
          "HostConfig": {\
+  "Binds":[\
+    "/usr/blueos/extensions/data-logger:/app",\
+  ]\
+}
 
          
 
          • 
-
        • Automatically mapping port 80 of the Container to a free port in the host
          LABEL permissions='\
+
        • Allowing the Container to access connected serial devices / hardware (at /dev/tty*)
          "HostConfig": {\
+  "Privileged": true,\
+  "Binds":[\
+    "/usr/blueos/extensions/data-logger:/app",\
+    "/dev:/dev"\
+  ]\
+}
+
          
+
          • 
+
        • Automatically mapping port 80 of the Container to a free port in the host, and creating an explicit network bridge to the vehicle's network
+
            
+
          • Requires using host.docker.internal (i.e. instead of localhost/127.0.0.1) to access BlueOS APIs from inside the Extension, because the Extension is not sharing the BlueOS-core network
            • 
+
          
+
          LABEL permissions='\
 {\
  "ExposedPorts": {\
    "80/tcp": {}\
   },\
   "HostConfig": {\
-    "Binds":["/root/.config:/root/.config"],\
+    "ExtraHosts": ["host.docker.internal:host-gateway"],\
     "PortBindings": {\
       "80/tcp": [\
         {\
@@ -445,7 +630,7 @@ 
          Metadata (Dockerfile)
          
 
          • 
 
        
 
        • 
-
      • Our Extensions Examples Repository has some useful examples
        • 
+
      • Our Extensions Examples Repository has some useful examples
        • 
 
      
 
      • 
 
    • LABEL version="1.0.0"
@@ -489,7 +674,7 @@ 
      Metadata (Dockerfile)
      
 
    • A URL pointing to a markdown-based README file
 
        
 
      • Allows using {tag} to find versioned readme files without manually updating the URLs
        • 
-
      • e.g. "https://https://raw.githubusercontent.com/Williangalvani/BlueOS-examples/{tag}/example4-vue-backend/Readme.md"
        • 
+
      • e.g. "https://https://raw.githubusercontent.com/BlueOS-Community/BlueOS-examples/{tag}/example4-vue-backend/Readme.md"
        • 
 
      
 
      • 
 
    
@@ -525,8 +710,8 @@ 
    Metadata (Dockerfile)
    
 
  • Should be one of the following strings:
 
      
 
    • "device-integration"
      • 
-
    • "theme"
      • 
 
    • "other"
      • 
+
    • "tool"
      • 
 
    • "example" (for Extension examples)
      • 
 
    
 
    • 
@@ -551,12 +736,12 @@ 
    Metadata (Dockerfile)
    
 
 
 
-
    1
+
    2
 
    The metadata from the Docker labels is used to populate the Repository Manifest, which is used to include Extensions in the Extensions Manager.
    
 
    
 
    Web Interface (HTTP Server)
    
-
    If the Extension needs a visual interface2, the recommended approach is to provide a webpage that's accessible via the existing BlueOS web interface.
    
-
    To do so requires the Extension to run a HTTP server3, at which it must serve a register_service endpoint in the format of a JSON dict with the following keys:
    
+
    If the Extension needs a visual interface3, the recommended approach is to provide a webpage that's accessible via the existing BlueOS web interface.
    
+
    To do so requires the Extension to run a HTTP server1, at which it must serve a register_service endpoint in the format of a JSON dict with the following keys:
    
 
      
 
    • "name"
 
        
@@ -571,8 +756,12 @@ 
        Web Interface (HTTP Server)
        
 
      • "description"
        • 
 
      • "icon"
 
          
-
        • Select one of the Material Design Icons
          • 
-
        • Specify it in the form mdi-icon-name (e.g. mdi-lightbulb)
          • 
+
        • Specify Material Design Icons in the form "mdi-icon-name" (e.g. "mdi-lightbulb")
          • 
+
        • Define custom SVG icons as an SVG element (New in 1.2)
+
            
+
          • e.g. "<svg role=\"img\" viewBox=\"0 0 24 24\" xmlns=\"http://www.w3.org/2000/svg\">...</svg>"
            • 
+
          
+
          • 
 
        
 
        • 
 
      • "company"
@@ -619,24 +808,21 @@ 
        Web Interface (HTTP Server)
        
     "api": "https://github.com/octocat/blink-led-BlueOS-extension/wiki/api"
 }
 
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    -

    Each Extension service with a register_service endpoint will have an entry under the "Extensions" section of the BlueOS web interface sidebar menu:

    +

    Each Extension service with a register_service endpoint will have an entry in the BlueOS web interface sidebar menu:

    sidebar display showing a registered service in the menu

    -
    2 +
    3

    You can choose to not provide a web interface if your extension operates with no user input. The VirtualHere Extension is a relevant example.

    -
    3 -

    You can use programs like simple-http-server to serve static files for an Extension.

    -

    Functionality

    Different types of Extensions have different functionality, and there are often a variety of tools available to provide that. When starting to develop extensions, we would generally recommend:

    • Python to run stuff
        -
      • Frequently using a web framework like Starlite/Flask/FastAPI to provide the backend of an interface
        • +
      • Frequently using a web framework like Litestar/Flask/FastAPI to provide the backend of an interface
    • Static HTML files to contain and display parts of an interface
      • -
    • Our Extensions Examples Repository has some useful examples
      • +
    • Our Extensions Examples Repository has some useful examples

    Examples: What do they Look like?

    Device Integrations

    @@ -648,15 +834,11 @@

    Device Integrations

    Examples

    -

    Themes

    -

    Other

    Development Process

    +

    Detailed flowchart

    +

    Expected Development Cycle

    +
      +
    1. (If possible) create and test initial backend functionality within BlueOS
      2. +
    2. Wrap Extension functionality into a Docker Image
      3. +
    3. Upload to Docker Hub
      4. +
    4. Test locally (using a "manual"/development install)
      5. +
    5. Submit the extension to the Bazaar
      6. +
    6. Get it accepted
      7. +
    7. Install it from the store
      8. +
    8. Test locally
      9. +
    9. Make improvements
      10. +
    10. Upload a new version
      11. +
    11. Repeat from step 6.
      12. +
    +

    Initial Backend Functionality Implementation/Testing

    +

    If you're starting your Extension from scratch, there are a variety of development tools available within BlueOS and in existing Extensions which can enable implementing and testing your key functionality before you start to package it up for easy installation and sharing. Having the backend functionality tested before trying to package it into an Extension can help to minimise unexpected issues and troubleshooting.

    +

    Basic functionality can be tested from within the core BlueOS Docker container using the provided Terminal, and if you store files that you create in the /usr/blueos/userdata/ directory they will be persistent across BlueOS restarts, and accessible through the File Browser. For a more interactive development experience, you may wish to use an Extension like Jupyter or VS Code.

    +

    Extension Creation and Docker Image Upload

    +

    Extensions are Docker images, so the packaging process involves

    +
      +
    1. Creating a Dockerfile describing what you would like to package and how it should execute, then
      2. +
    2. Using it to build one or more Docker Images for the hardware architectures you wish to support, then
      3. +
    3. Uploading those images to an online Docker hub/repository, so the Extension can be downloaded and installed on BlueOS devices + +
      4. +
    +

    Depending on your starting points and preferred development process/environment, the building and uploading parts can either be performed automatically as part of a CI/CD pipeline, or locally on your development machine. We recommend trying out a QuickStart GitHub repository to familiarise yourself with the process, then deciding how you would like to perform your own development from there.

    +
    QuickStart
    +

    QuickStart repositories serve as a way to get an example Extension up and running as quickly as possible, while also forming a solid basis for continued development of your own Extension functionalities from that point.

    +
      +
    1. Create a GitHub account and a Docker Hub account
      2. +
    2. "Use this template" from the top right of a QuickStart GitHub repository + +
      3. +
    3. Create a Docker repository, to host your Docker images for this Extension +
        +
      • The name should be something like blueos-extension-image-name (e.g. blueos-quickstart)
        • +
      +
      4. +
    4. Set up GitHub Secrets: +
        +
      • DOCKER_USERNAME: your Docker Hub username
        • +
      • DOCKER_PASSWORD: a Docker Hub access token (Read & Write), to allow your GitHub repository actions to upload Docker images to your Docker Hub account
        • +
      +
      5. +
    5. Set up GitHub Variables: +
        +
      • IMAGE_NAME: the name you chose for your Docker repository
        • +
      • MY_EMAIL: the developer's email address
        • +
      • MY_NAME: the developer's name
        • +
      • ORG_EMAIL: a support email for the maintaining organisation
        • +
      • ORG_NAME: the name of the maintaining organisation
        • +
      +
      6. +
    6. Run the deployment workflow4 to automatically build and upload your Docker image (refresh the page to see its status):
      7. +
    +
    +Github Workflow Dispatch +
    +
      +
    1. Once the action completes (it may take ~5 minutes) confirm the image is available in your Docker repository
      2. +
    2. If you have a BlueOS device available, try manually installing the extension
      3. +
    +
    4 +

    The QuickStart repositories make use of our BlueOS Extension Deployment Action, which is available for use in any GitHub workflow, in case you would prefer to use a custom one.

    +
    +
    Offline Building
    +

    While we generally recommend automated builds for convenience and consistency, it is also possible to develop, build, and upload Docker images directly from your development computer.

    +

    We recommend using buildx for cross-platform building, and qemu for emulating arm/v7 on x86-based developer hardware. Our deployment action provides our best-practice steps for Extension packaging, so is a useful starting point.

    +

    There is also a basic extension template for Extensions that are intended to be built manually.

    -

    💡 Walkthrough coming soon!

    +

    ⚠️ Each supported hardware architecture requires its own Docker Image to be built, which our deployment action helps with.

    +

    Multi-hardware support allows your Extension to be run/tested on different hardware, but can make development and maintenance more challenging. +In particular, different hardwares have different build requirements, which may have different library compatibilities.

    +

    For reference:

    +
      +
    • Raspberry Pi ≤3 boards use the arm/v7 architecture
      • +
    • Raspberry Pi ≥4 boards use the arm64/v8 architecture, but can typically also run arm/v7 images and software
      • +
    +

    Manual/Development Installs

    +

    Testing each Extension release before making it available to install from the online store is strongly recommended.

    +
      +
    1. Go to the Extensions Manager in BlueOS
      2. +
    2. Click on the "Installed" tab
      3. +
    3. Click the "+" icon in the bottom right corner
      4. +
    4. Enter the relevant information for your Docker Image, so it can be fetched from Docker Hub +
        +
      • Extension Identifier: dockerusername.base-extension-name +
          +
        • e.g. esalexander.quickstart
          • +
        • Used for uniqueness comparisons with other installed Extensions
          • +
        +
        • +
      • Extension Name: A human-readable name for the Extension +
          +
        • e.g. QuickStart Test
          • +
        +
        • +
      • Docker image: dockerusername/extension-name +
          +
        • e.g. esalexander/blueos-quickstart
          • +
        • Used for finding and downloading the Docker image
          • +
        +
        • +
      • Docker tag: the branch or tag/version the image was generated from +
          +
        • e.g. main
          • +
        • Used for finding and downloading the Docker image
          • +
        +
        • +
      • Custom settings: the contents of your Dockerfile's permissions LABEL, but with relevant variable substitutions (e.g. $IMAGE_NAME → blueos-quickstart) and without the backslash line continuation characters +
          +
        • Used for configuration of the Docker container when it's run
          • +
        +
        • +
      +
      5. +
    + +

    Submission to the Bazaar

    +
      +
    1. Check metadata docs, and match the requirements with your Dockerfile
      2. +
    2. Build, and upload a SemVer-compliant Docker Image to Docker Hub
      3. +
    3. Submit a Pull Request (PR) to the extensions repo
        -
      • Sneak peek diagram
        • +
      • Include an icon, and a user-friendly description
        • +
      • A nicer form-based interface is on the way, but not yet available
      +
      4. +
    +

    Getting Your Extension Accepted

    +
      +
    1. Check for build errors in the Docker Image creation process
      2. +
    2. Respond to PR feedback (if there is any)
      3. +
    3. Blue Robotics will merge the PR, after which it becomes public +
        +
      • Available extensions are visible in the BlueOS extensions manager, as well as in the gallery
        • +
      • BlueOS Bazaar will provide a filterable and searchable interface for this
        • +
      +
      4. +
    +

    Installing from the Bazaar

    +

    The Bazaar is available through the BlueOS Extensions Manager. Once an Extension has been accepted into the Bazaar it should appear automatically, within a few minutes.

    +

    Iterating / Release Cycle

    +

    Most programming projects are never fully "complete", so it is expected that Extensions will be modified and improved over time. Extension approval only needs to occur when the Extension is first added to the store, so updated releases should become available within 24 hours from when the new version is uploaded to Docker Hub.

    +

    The expected iteration process is:

    +
      +
    1. Make improvements
      2. +
    2. Build the updated Docker Images and upload them to Docker Hub +
        +
      • Should be tagged with a SemVer compliant tag that’s higher than the previous release +
          +
        • E.g. v1.0.0 → v1.0.1
          • +
        +
        • +
      +
      3. +
    3. Confirm the new version is available through the BlueOS Extensions Manager
      4. +
    4. Install and test it
      5. +
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    BlueOS is set up with a GitHub Action that automatically builds and deploys a BlueOS-bootstrap image when changes are pushed to the GitHub repository. If you want to make use of that functionality you'll need a DockerHub account, and will need to specify your DockerHub username (DOCKER_USERNAME) and password (DOCKER_PASSWORD) in your fork's GitHub secrets.