diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c80a306..782c9d7 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -531,208 +531,6 @@
-
- Battery 1 current per volt (A/V)
- The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
- 8
- True
-
-
- Battery 1 capacity
- Defines the capacity of battery 1 in mAh.
- -1.0
- 100000
- mAh
- 0
- 50
- True
-
-
- Battery 1 Current ADC Channel
- This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
- True
-
-
- Number of cells for battery 1
- Defines the number of cells the attached battery consists of.
- True
-
- 2S Battery
- 3S Battery
- 4S Battery
- 5S Battery
- 6S Battery
- 7S Battery
- 8S Battery
- 9S Battery
- 10S Battery
- 11S Battery
- 12S Battery
- 13S Battery
- 14S Battery
- 15S Battery
- 16S Battery
-
-
-
- Explicitly defines the per cell internal resistance for battery 1
- If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.
- -1.0
- 0.2
- Ohm
- 2
- 0.01
- True
-
-
- Battery 1 monitoring source
- This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.
- True
-
- Disabled
- Power Module
- External
- ESCs
-
-
-
- Battery 1 Voltage ADC Channel
- This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
- True
-
-
- Full cell voltage (5C load)
- Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
- V
- 2
- 0.01
- True
-
-
- Battery 1 voltage divider (V divider)
- This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
- 8
- True
-
-
- Empty cell voltage (5C load)
- Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
- V
- 2
- 0.01
- True
-
-
- Voltage drop per cell on full throttle
- This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.
- 0.07
- 0.5
- V
- 2
- 0.01
- True
-
-
- Battery 2 current per volt (A/V)
- The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
- 8
- True
-
-
- Battery 2 capacity
- Defines the capacity of battery 2 in mAh.
- -1.0
- 100000
- mAh
- 0
- 50
- True
-
-
- Battery 2 Current ADC Channel
- This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
- True
-
-
- Number of cells for battery 2
- Defines the number of cells the attached battery consists of.
- True
-
- 2S Battery
- 3S Battery
- 4S Battery
- 5S Battery
- 6S Battery
- 7S Battery
- 8S Battery
- 9S Battery
- 10S Battery
- 11S Battery
- 12S Battery
- 13S Battery
- 14S Battery
- 15S Battery
- 16S Battery
-
-
-
- Explicitly defines the per cell internal resistance for battery 2
- If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.
- -1.0
- 0.2
- Ohm
- 2
- 0.01
- True
-
-
- Battery 2 monitoring source
- This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.
- True
-
- Disabled
- Power Module
- External
- ESCs
-
-
-
- Battery 2 Voltage ADC Channel
- This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
- True
-
-
- Full cell voltage (5C load)
- Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
- V
- 2
- 0.01
- True
-
-
- Battery 2 voltage divider (V divider)
- This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
- 8
- True
-
-
- Empty cell voltage (5C load)
- Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
- V
- 2
- 0.01
- True
-
-
- Voltage drop per cell on full throttle
- This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.
- 0.07
- 0.5
- V
- 2
- 0.01
- True
-
This parameter is deprecated. Please use BAT1_I_CHANNEL
@@ -1910,43 +1708,6 @@
-
- DSHOT 3D deadband high
- When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
- 1000
- 1999
-
-
- DSHOT 3D deadband low
- When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
- 0
- 1000
-
-
- Allows for 3d mode when using DShot and suitable mixer
- WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
-
-
- Configure DShot
- This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.
- True
-
- Disable (use PWM/Oneshot)
- DShot150
- DShot300
- DShot600
- DShot1200
-
-
-
- Minimum DShot Motor Output
- Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.
- 0
- 1
- %
- 2
- 0.01
-
Serial Configuration for DShot Driver
Configure on which serial port to run DShot Driver.
@@ -1966,10 +1727,6 @@
Pixhawk Payload Bus
-
- Number of magnetic poles of the motors
- Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.
-
@@ -4553,15 +4310,6 @@
-
- Broadcast heartbeats on local network for MAVLink instance 0
- This allows a ground control station to automatically find the drone on the local network.
-
- Never broadcast
- Always broadcast
- Only multicast
-
-
Serial Configuration for MAVLink (instance 0)
Configure on which serial port to run MAVLink.
@@ -4582,59 +4330,6 @@
Ethernet
-
- Enable MAVLink Message forwarding for instance 0
- If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
- True
-
-
- MAVLink Mode for instance 0
- The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
- True
-
- Normal
- Custom
- Onboard
- OSD
- Magic
- Config
- Minimal
- External Vision
- Gimbal
- Onboard Low Bandwidth
-
-
-
- Enable software throttling of mavlink on instance 0
- If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
- True
-
-
- Maximum MAVLink sending rate for instance 0
- Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
- 0
- B/s
- True
-
-
- MAVLink Remote Port for instance 0
- If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.
- True
-
-
- MAVLink Network Port for instance 0
- If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.
- True
-
-
- Broadcast heartbeats on local network for MAVLink instance 1
- This allows a ground control station to automatically find the drone on the local network.
-
- Never broadcast
- Always broadcast
- Only multicast
-
-
Serial Configuration for MAVLink (instance 1)
Configure on which serial port to run MAVLink.
@@ -4655,59 +4350,6 @@
Ethernet
-
- Enable MAVLink Message forwarding for instance 1
- If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
- True
-
-
- MAVLink Mode for instance 1
- The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
- True
-
- Normal
- Custom
- Onboard
- OSD
- Magic
- Config
- Minimal
- External Vision
- Gimbal
- Onboard Low Bandwidth
-
-
-
- Enable software throttling of mavlink on instance 1
- If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
- True
-
-
- Maximum MAVLink sending rate for instance 1
- Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
- 0
- B/s
- True
-
-
- MAVLink Remote Port for instance 1
- If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.
- True
-
-
- MAVLink Network Port for instance 1
- If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.
- True
-
-
- Broadcast heartbeats on local network for MAVLink instance 2
- This allows a ground control station to automatically find the drone on the local network.
-
- Never broadcast
- Always broadcast
- Only multicast
-
-
Serial Configuration for MAVLink (instance 2)
Configure on which serial port to run MAVLink.
@@ -4728,50 +4370,6 @@
Ethernet
-
- Enable MAVLink Message forwarding for instance 2
- If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
- True
-
-
- MAVLink Mode for instance 2
- The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
- True
-
- Normal
- Custom
- Onboard
- OSD
- Magic
- Config
- Minimal
- External Vision
- Gimbal
- Onboard Low Bandwidth
-
-
-
- Enable software throttling of mavlink on instance 2
- If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
- True
-
-
- Maximum MAVLink sending rate for instance 2
- Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
- 0
- B/s
- True
-
-
- MAVLink Remote Port for instance 2
- If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.
- True
-
-
- MAVLink Network Port for instance 2
- If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.
- True
-
MAVLink component ID
1
@@ -5662,1549 +5260,262 @@
3.0
3
-
- Maximum vertical descent velocity
- Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
- 0.5
- 4.0
- m/s
-
-
- Maximum vertical ascent velocity
- Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
- 0.5
- 8.0
- m/s
- 1
-
-
- Proportional gain for vertical velocity error
- defined as correction acceleration in m/s^2 per m/s velocity error
- 2.0
- 15.0
- 2
-
-
- Responsiveness
- Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.
- -1
- 1
- 2
- 0.05
-
-
- Enable weathervane
-
-
- Minimum roll angle setpoint for weathervane controller to demand a yaw-rate
- 0
- 5
- deg
-
-
- Maximum yawrate the weathervane controller is allowed to demand
- 0
- 120
- deg/s
-
-
-
-
- Acro mode Expo factor for Roll and Pitch
- Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
- 0
- 1
- 2
-
-
- Acro mode Expo factor for Yaw
- Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
- 0
- 1
- 2
-
-
- Max acro pitch rate
- default: 2 turns per second
- 0.0
- 1800.0
- deg/s
- 1
- 5
-
-
- Max acro roll rate
- default: 2 turns per second
- 0.0
- 1800.0
- deg/s
- 1
- 5
-
-
- Acro mode SuperExpo factor for Roll and Pitch
- SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
- 0
- 0.95
- 2
-
-
- Acro mode SuperExpo factor for Yaw
- SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
- 0
- 0.95
- 2
-
-
- Max acro yaw rate
- default 1.5 turns per second
- 0.0
- 1800.0
- deg/s
- 1
- 5
-
-
- Battery power level scaler
- This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
-
-
- Pitch rate D gain
- Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- 4
- 0.0005
-
-
- Pitch rate feedforward
- Improves tracking performance.
- 0.0
- 4
-
-
- Pitch rate I gain
- Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- 3
- 0.01
-
-
- Pitch rate controller gain
- Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
- 0.01
- 5.0
- 4
- 0.0005
-
-
- Pitch rate P gain
- Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.01
- 0.6
- 3
- 0.01
-
-
- Pitch rate integrator limit
- Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
- 0.0
- 2
- 0.01
-
-
- Roll rate D gain
- Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- 0.01
- 4
- 0.0005
-
-
- Roll rate feedforward
- Improves tracking performance.
- 0.0
- 4
-
-
- Roll rate I gain
- Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- 3
- 0.01
-
-
- Roll rate controller gain
- Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
- 0.01
- 5.0
- 4
- 0.0005
-
-
- Roll rate P gain
- Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.01
- 0.5
- 3
- 0.01
-
-
- Roll rate integrator limit
- Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
- 0.0
- 2
- 0.01
-
-
- Yaw rate D gain
- Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- 2
- 0.01
-
-
- Yaw rate feedforward
- Improves tracking performance.
- 0.0
- 4
- 0.01
-
-
- Yaw rate I gain
- Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- 2
- 0.01
-
-
- Yaw rate controller gain
- Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.
- 0.0
- 5.0
- 4
- 0.0005
-
-
- Yaw rate P gain
- Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.0
- 0.6
- 2
- 0.01
-
-
- Yaw rate integrator limit
- Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
- 0.0
- 2
- 0.01
-
-
-
-
- Enable/Disable the ATXXX OSD Chip
- Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.
- true
-
- Disabled
- NTSC
- PAL
-
-
-
-
-
- Minimum motor rise time (slew rate limit)
- Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.
- 0.0
- s/(1000*PWM)
-
-
- PWM aux 1 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 2 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 3 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 4 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 5 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 6 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 7 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux 8 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
- -1
- 2150
- us
-
-
- PWM aux disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
- 0
- 2200
- us
-
-
- PWM aux 1 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 2 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 3 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 4 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 5 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 6 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 7 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux 8 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM aux maximum value
- Set to 2000 for industry default or 2100 to increase servo travel.
- 1600
- 2200
- us
-
-
- PWM aux 1 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 2 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 3 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 4 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 5 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 6 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 7 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux 8 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
- -1
- 2150
- us
-
-
- PWM aux minimum value
- Set to 1000 for industry default or 900 to increase servo travel.
- 800
- 1400
- us
-
-
- PWM aux 1 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 2 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 3 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 4 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 5 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 6 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 7 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM aux 8 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
- -1
- 1600
- us
-
-
- PWM channels used as ESC outputs
- Number representing the channels e.g. 134 - Channel 1, 3 and 4. Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
- 0
- 123456789
-
-
- PWM aux output frequency
- Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
- -1
- 2000
- Hz
-
-
- PWM aux 1 rate
- Set the default PWM output frequency for the aux outputs
- 0
- 400
- Hz
-
-
- PWM aux 1 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 2 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 3 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 4 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 5 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 6 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 7 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 8 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM aux 1 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 2 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 3 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 4 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 5 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 6 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 7 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM aux 8 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 1 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 2 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 3 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 4 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 5 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 6 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 7 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra 8 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
- -1
- 2150
- us
-
-
- PWM extra disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
- 0
- 2200
- us
-
-
- PWM extra 1 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 2 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 3 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 4 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 5 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 6 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 7 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra 8 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- 0
- 2150
- us
-
-
- PWM extra maximum value
- Set to 2000 for industry default or 2100 to increase servo travel.
- 1600
- 2200
- us
-
-
- PWM extra 1 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 2 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 3 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 4 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 5 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 6 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 7 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra 8 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
- -1
- 2150
- us
-
-
- PWM extra minimum value
- Set to 1000 for industry default or 900 to increase servo travel.
- 800
- 1400
- us
-
-
- PWM extra 1 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 2 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 3 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 4 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 5 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 6 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 7 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra 8 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
- -1
- 1600
- us
-
-
- PWM extra output frequency
- Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
- -1
- 2000
- Hz
-
-
- PWM extra 1 rate
- Set the default PWM output frequency for the main outputs
- 0
- 400
- Hz
-
-
- PWM extra 1 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 2 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 3 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 4 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 5 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 6 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 7 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 8 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
-
- PWM extra 1 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 2 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 3 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 4 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 5 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 6 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 7 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM extra 8 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
-
-
- PWM main 1 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 10 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 11 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 12 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 13 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 14 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 2 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 3 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 4 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 5 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 6 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 7 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 8 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main 9 disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
- -1
- 2150
- us
-
-
- PWM main disarmed value
- This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
- 0
- 2200
- us
-
-
- PWM main 1 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 10 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 11 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 12 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 13 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 14 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 2 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 3 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 4 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 5 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 6 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 7 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 8 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main 9 failsafe value
- This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
- -1
- 2150
- us
-
-
- PWM main maximum value
- Set to 2000 for industry default or 2100 to increase servo travel.
- 1600
- 2200
- us
-
-
- PWM main 1 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 10 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 11 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 12 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 13 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 14 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 2 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 3 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 4 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 5 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 6 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 7 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 8 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main 9 maximum value
- This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
- -1
- 2150
- us
-
-
- PWM main minimum value
- Set to 1000 for industry default or 900 to increase servo travel.
- 800
- 1400
- us
-
-
- PWM main 1 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 10 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 11 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 12 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 13 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 14 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 2 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 3 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 4 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 5 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
-
-
- PWM main 6 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
+
+ Maximum vertical descent velocity
+ Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
+ 0.5
+ 4.0
+ m/s
-
- PWM main 7 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
+
+ Maximum vertical ascent velocity
+ Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
+ 0.5
+ 8.0
+ m/s
+ 1
-
- PWM main 8 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
- -1
- 1600
- us
+
+ Proportional gain for vertical velocity error
+ defined as correction acceleration in m/s^2 per m/s velocity error
+ 2.0
+ 15.0
+ 2
-
- PWM main 9 minimum value
- This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+
+ Responsiveness
+ Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.
-1
- 1600
- us
-
-
- PWM channels used as ESC outputs
- Number representing the channels e.g. 134 - Channel 1, 3 and 4. Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
- 0
- 123456789
+ 1
+ 2
+ 0.05
-
- PWM main output frequency
- Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
- -1
- 2000
- Hz
+
+ Enable weathervane
-
- PWM main 1 rate
- Set the default PWM output frequency for the main outputs
+
+ Minimum roll angle setpoint for weathervane controller to demand a yaw-rate
0
- 400
- Hz
+ 5
+ deg
-
- PWM main 1 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Maximum yawrate the weathervane controller is allowed to demand
+ 0
+ 120
+ deg/s
-
- PWM main 10 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+
+ Acro mode Expo factor for Roll and Pitch
+ Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
+ 0
+ 1
+ 2
-
- PWM main 11 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Acro mode Expo factor for Yaw
+ Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
+ 0
+ 1
+ 2
-
- PWM main 12 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Max acro pitch rate
+ default: 2 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
-
- PWM main 13 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Max acro roll rate
+ default: 2 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
-
- PWM main 14 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Acro mode SuperExpo factor for Roll and Pitch
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ 0
+ 0.95
+ 2
-
- PWM main 2 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Acro mode SuperExpo factor for Yaw
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ 0
+ 0.95
+ 2
-
- PWM main 3 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Max acro yaw rate
+ default 1.5 turns per second
+ 0.0
+ 1800.0
+ deg/s
+ 1
+ 5
-
- PWM main 4 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Battery power level scaler
+ This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
-
- PWM main 5 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Pitch rate D gain
+ Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 4
+ 0.0005
-
- PWM main 6 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Pitch rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
-
- PWM main 7 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Pitch rate I gain
+ Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ 3
+ 0.01
-
- PWM main 8 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Pitch rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
+ 0.01
+ 5.0
+ 4
+ 0.0005
-
- PWM main 9 reverse value
- Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+ Pitch rate P gain
+ Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.01
+ 0.6
+ 3
+ 0.01
-
- PWM main 1 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Pitch rate integrator limit
+ Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
+ 0.0
2
+ 0.01
-
- PWM main 10 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Roll rate D gain
+ Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 0.01
+ 4
+ 0.0005
-
- PWM main 11 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Roll rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
-
- PWM main 12 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Roll rate I gain
+ Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ 3
+ 0.01
-
- PWM main 13 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Roll rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
+ 0.01
+ 5.0
+ 4
+ 0.0005
-
- PWM main 14 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Roll rate P gain
+ Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.01
+ 0.5
+ 3
+ 0.01
-
- PWM main 2 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Roll rate integrator limit
+ Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
+ 0.0
2
+ 0.01
-
- PWM main 3 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Yaw rate D gain
+ Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
2
+ 0.01
-
- PWM main 4 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Yaw rate feedforward
+ Improves tracking performance.
+ 0.0
+ 4
+ 0.01
-
- PWM main 5 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Yaw rate I gain
+ Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
2
+ 0.01
-
- PWM main 6 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+ Yaw rate controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
-
- PWM main 7 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Yaw rate P gain
+ Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 0.6
2
+ 0.01
-
- PWM main 8 trim value
- Set to normalized offset
- -0.2
- 0.2
+
+ Yaw rate integrator limit
+ Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
+ 0.0
2
+ 0.01
-
- PWM main 9 trim value
- Set to normalized offset
- -0.2
- 0.2
- 2
+
+
+
+ Enable/Disable the ATXXX OSD Chip
+ Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.
+ true
+
+ Disabled
+ NTSC
+ PAL
+
+
+
+
+
+ Minimum motor rise time (slew rate limit)
+ Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.
+ 0.0
+ s/(1000*PWM)
S.BUS out
@@ -10907,19 +9218,6 @@
Pixhawk Payload Bus
-
- Distance Sensor Rotation
- Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum
- True
-
- ROTATION_FORWARD_FACING
- ROTATION_RIGHT_FACING
- ROTATION_LEFT_FACING
- ROTATION_BACKWARD_FACING
- ROTATION_UPWARD_FACING
- ROTATION_DOWNWARD_FACING
-
-
Analog Devices ADIS16448 IMU (external SPI)
0
@@ -12350,6 +10648,11 @@
Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
celcius
+
+ Enable Dynamic Control Allocation
+ If disabled, the existing mixing implementation is used. If enabled, dynamic control allocation with runtime configuration of the mixing and output functions is used. Note: this is work-in-progress and not all vehicle types are supported yet.
+ true
+
Enable factory calibration mode
If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.