Description: This value is incremented when changes are made to the eeprom format. Values: User define Description: This is used by the ground station to recognise the software type. Values: 1: Photo(point), 2:Photo(continuous), 3:Streaming Description: Allows reconising the mavlink version. Values: User define Description: Allows restricting radio overrides to only come from my ground station. Values: User define Description: Telemetry Baud Rate. Values: 1:1200, 2:2400, 4:4800, 9:9600, 19:19200, 38:38400, 57:57600, 111:111100, 115:115200 Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up. Range: 0 to 10 Description: The minimum altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. Range: 0 to 8000 Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar. Values: 0:Disabled, 1:Enabled Description: Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time). Values: 0:XL-EZ0 / XL-EZ4, 1:LV-EZ0, 2:XLL-EZ0, 3:HRLV Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter. Range: 0.01 to 0.5 Description: Controls enabling monitoring of the battery's voltage and current. Values: 0:Disabled, 3:Voltage Only, 4:Voltage and Current Description: SBAS mode enable or disable for UBLOX GPS module. Values: 0:Disabled, 1:Enabled Description: Carrier to noise ratio threshold value for tracking and positioning. Values: 0 to 30 Description: Controls whether failsafe will be invoked when battery voltage or current runs low. Values: 0:Disabled, 1:Enabled Description: Controls whether failsafe will be invoked when gps signal is lost. Values: 0:Disabled, 1:Enabled Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. Values: 0:Disabled, 1:Enabled Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin voltage x INPUT_VOLTS/1024 x VOLT_DIVIDER). Description: Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage x INPUT_VOLTS/1024 x AMP_PER_VOLT ). Description: Battery capacity in milliamp-hours (mAh). Values: User define Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Values: 0:Disabled, 1:Enabled Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow. Values: 0:Disabled, 1:Enabled Description: Set this to the voltage you want to represent low voltage. Range: 0 to 20 Description: Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode. Values: 0:Disabled, 1:Enabled Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land. Range: -1 to 1000 Description: Setting this to 0 ~ 13 will enable battery current sensing on pins. Values: User define Description: Setting this to 0 ~ 13 will enable battery current sensing on pins. Values: User define Description: Set base altitude sensor barometer or gps.(0 is barometer, 1 is gps altitude) Values: User define Description: This allows enabling and disabling the accelerometer based throttle controller. If disabled a velocity based controller is used. Values: 0:Disabled, 1:Enabled Description: Determines how the autopilot controls the yaw during missions and RTL. Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL Description: Total number of commands in the mission stored in the eeprom. Do not update this parameter directly! Values: User define Description: The index number of the command that is currently being executed. Do not update this parameter directly! Values: User define Description: Defines the radius of the circle the vehicle will fly when in Circle flight mode. Range: 1 to 127 Description: Circle mode's turn rate in degrees / second. Positive to turn clockwise, negative for counter clockwise. Range: -90 to 90 Description: Time (in milliseconds) to loiter above home before begining final descent. Range: 0 to 60000 Description: The descent speed for the final stage of landing in cm/s. Range: 20 to 200 Description: The maximum vertical velocity the pilot may request in cm/s. Range: 10 to 500 Description: The minimum throttle that will be sent to the motors to keep them spinning. Range: 0 to 1000 Description: The maximum throttle that will be sent to the motors. Range: 0 to 1000 Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel. Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode Description: The PWM level on channel 3 below which throttle sailsafe triggers. Description: The autopilot's estimate of the throttle required to maintain a level hover. Calculated automatically from the pilot's throttle input while in stabilize mode. Range: 0 to 1000 Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover. Range: 300 to 700 Description: Flight mode when Channel 5 pwm is less than 1230. Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Flight mode when Channel 5 pwm is more than 1230, less than 1360 Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Flight mode when Channel 5 pwm is more than 1360, less than 1490. Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Flight mode when Channel 5 pwm is more than 1490, less than 1620. Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Flight mode when Channel 5 pwm is more than 1620, less than 1749. Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Flight mode when Channel 5 pwm is more than 1750. Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL, 7:Circle,8:Position,9:Land,10:OF_Loiter,11:ToyA,12:ToyM Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode) Description: 2 byte bitmap of log types to enable. Values: 0:Disabled,830:Default,958:Default+IMU,1854:Default+Motors,17214:Default+INav Description: LIDAR Sensor collision avoid operation enable or disable(0 is disable, 1 is enable) Range: 1 to 10 Description: Controls whether KN-X will enter ESC calibration on the next restart. Do not adjust this parameter manually. Values: 0:Normal Start-up,1:Start-up in ESC Calibration mode Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob. Range: 0 to 39 Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob. Range: 0 to 32767 Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob. Range: 0 to 32767 Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters. Values: 0:Plus, 1:X, 2:V, 3:H Description: Select which function if performed when CH7 is above 1800 pwm. Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw Description: Select which function if performed when CH8 is above 1800 pwm. Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw Description: Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass. Values: 0:Disabled, 1:Enabled Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 to 2200 Description: Reverse servo operation. Values: -1:Reversed, 1:Normal Description: dead zone around trim. Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function. Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt, 8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll, 15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput Description: This is the speed in Hertz that your ESCs will receive updates. Range: 50 to 490 Description: Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode. Higher values mean faster rate of rotation. Range: 1 to 10 Description: Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle). Values: 0:Disabled, 1:Enabled Description: rate at which roll angle returns to level in acro mode. Range: 0 to 300 Description: rate at which pitch angle returns to level in acro mode. Range: 0 to 300 Description: Set to 1 (Enabled) to make roll return to within 45 degrees of level automatically. Values: 0:Disabled, 1:Enabled Description: bitmap to control the copter led mode. Values: 0:Disabled,1:Enable,2:GPS On,4:Aux,8:Buzzer,16:Oscillate,32:Nav Blink,64:GPS Nav Blink Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.08 to 0.20 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.01 to 0.5 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.001 to 0.008 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.08 to 0.20 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.01 to 0.5 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.001 to 0.008 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.150 to 0.250 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.010 to 0.020 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.000 to 0.001 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 2.000 to 6.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.020 to 0.060 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.200 to 0.600 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 2.000 to 6.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.020 to 0.060 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.200 to 0.600 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 1.000 to 8.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.000 to 0.400 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.500 to 1.500 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 3.000 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.000 to 0.400 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 2.000 to 3.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.250 to 0.750 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.100 to 0.140 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 2.000 to 3.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.250 to 0.750 Description: D Gain which produces an output that is proportional to the rate of change of the error. Range: 0.100 to 0.140 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 3.000 to 6.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 3.000 to 6.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 3.000 to 6.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output. Range: 0 to 4500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 1.000 to 3.000 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output. Range: 0 to 500 Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.100 to 0.300 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output. Range: 0 to 3000 Description: P Gain which produces an output value that is proportional to the current error value. Range: 0.100 to 0.300 Description: I Gain which produces an output that is proportional to both the magnitude and the duration of the error. Range: 0.000 to 0.100 Description: The maximum/minimum value that the I term can output. Range: 0 to 3000 Description: how to trigger the camera to take a picture. Values: 0:Servo,1:Relay,2:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor Description: How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds). Range: 0 to 50 Description: PWM value to move servo to when shutter is activated. Range: 1000 to 2000 Description: PWM value to move servo to when shutter is deactivated. Range: 1000 to 2000 Description: Offset to be added to the compass x-axis values to compensate for metal in the frame. Range: -400 to 400 Description: Offset to be added to the compass y-axis values to compensate for metal in the frame. Range: -400 to 400 Description: Offset to be added to the compass z-axis values to compensate for metal in the frame. Range: -400 to 400 Description: An angle to compensate between the true north and magnetic north. Range: -PI to PI Description: Enable or disable the automatic learning of compass offsets. Values: 0:Disabled,1:Enabled Description: Enable or disable the use of the compass (instead of the GPS) for determining heading. Values: 0:Disabled,1:Enabled Description: Enable or disable the automatic calculation of the declination based on gps location. Values: 0:Disabled,1:Enabled Description: Set motor interference compensation type to disabled, throttle or current. Do not change manually. Values: 0:Disabled, 1:Use Throttle, 2:Use Current Description: Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference. Range: -1000 to 1000 Description: Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference. Range: -1000 to 1000 Description: Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference. Range: -1000 to 1000 Description: The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a position value for the Y axis, and a value close to zero for the X axis. NOTE: This orientation is combined with any AHRS_ORIENTATION setting. Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180, 9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270, 15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw135,19:Roll270,20:Roll270Yaw45, 21:Roll270Yaw90,22:Roll270Yaw136,23:Pitch90,24:Pitch270 Description: Which type of IMU is installed (read-only). Value: Sensor Id Description: Accelerometer scaling of X axis. Calculated during acceleration calibration routine. Range: 0.8 to 1.2 Description: Accelerometer scaling of Y axis. Calculated during acceleration calibration routine. Range: 0.8 to 1.2 Description: Accelerometer scaling of Z axis. Calculated during acceleration calibration routine. Range: 0.8 to 1.2 Description: Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations. Range: -300 to 300 Description: Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations. Range: -300 to 300 Description: Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations. Range: -300 to 300 Description: Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations. Description: Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations. Description: Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations. Description: Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot or gyro initialisation. Values: 0:Default,5:5Hz,10:10Hz,20:20Hz,42:42Hz,98:98Hz Description: Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate. Range: 0 to 10 Description: Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate. Range: 0 to 10 Description: Defines the speed in cm per sec which the aircraft will attempt to maintain horizontally during a WP mission. Range: 0 to 2000 Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. Range: 100 to 1000 Description: Defines the speed in cm per sec which the aircraft will attempt to maintain while climbing during a WP mission. Range: 0 to 1000 Description: Defines the speed in cm per sec which the aircraft will attempt to maintain while descending during a WP mission. Range: 0 to 1000 Description: Defines the maximum speed in cm per sec which the aircraft will travel horizontally while in loiter mode. Range: 0 to 2000 Description: Defines the horizontal acceleration in cm per sec2 used during missions. Range: 0 to 980 Description: Raw sensor stream rate to ground station. Range: 0 to 10 Description: Extended status stream rate to ground station. Range: 0 to 10 Description: RC Channel stream rate to ground station. Range: 0 to 10 Description: Raw Control stream rate to ground station. Range: 0 to 10 Description: Position stream rate to ground station. Range: 0 to 10 Description: Extra data type 1 stream rate to ground station. Range: 0 to 10 Description: Extra data type 2 stream rate to ground station. Range: 0 to 10 Description: Extra data type 3 stream rate to ground station. Range: 0 to 10 Description: Parameter stream rate to ground station. Range: 0 to 10 Description: Raw sensor stream rate to ground station. Range: 0 to 10 Description: Extended status stream rate to ground station. Range: 0 to 10 Description: RC Channel stream rate to ground station. Range: 0 to 10 Description: Raw Control stream rate to ground station. Range: 0 to 10 Description: Position stream rate to ground station. Range: 0 to 10 Description: Extra data type 1 stream rate to ground station. Range: 0 to 10 Description: Extra data type 1 stream rate to ground station. Range: 0 to 10 Description: Extra data type 1 stream rate to ground station. Range: 0 to 10 Description: Parameter stream rate to ground station. Range: 0 to 10 Description: This controls how 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. Range: 0.0 to 1.0 Description: This 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. Values: 0:Disabled, 1:Enabled Description: This 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. Range: 0.1 to 0.4 Description: This controls how fast the accelerometers correct the attitude. Range: 0.1 to 0.4 Description: This 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. Range: 0 to 127 Description: Compensates for the roll angle difference between the control board and the frame. Range: -10 to 10 Description: Compensates for the pitch angle difference between the control board and the frame. Range: -10 to 10 Description: Compensates for the yaw angle difference between the control board and the frame. Range: -10 to 10 Description: Overall 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. Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45, 10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90, 17:Roll90Yaw45,18:Roll90Yaw135,19:Roll270,20:Roll270Yaw45,21:Roll270Yaw90,22:Roll270Yaw136,23:Pitch90,24:Pitch270 Description: This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. A larger time constant will use GPS data less and a small time constant will use air data less. Range: 0.001 to 0.5 Description: Minimum 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. Range: 0 to 10 Description: Camera or antenna mount operation mode. Values: 0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point Description: Mount roll angle when in retracted position. Range: -18000 to 17999 Description: Mount tilt,pitch angle when in retracted position. Range: -18000 to 17999 Description: Mount yaw,pan angle when in retracted position. Range: -18000 to 17999 Description: Mount roll angle when in neutral position. Range: -18000 to 17999 Description: Mount tilt,pitch angle when in neutral position. Range: -18000 to 17999 Description: Mount pan,yaw angle when in neutral position. Range: -18000 to 17999 Description: Mount roll angle when in MavLink or RC control operation mode. Range: -18000 to 17999 Description: Mount tilt,pitch angle when in MavLink or RC control operation mode. Range: -18000 to 17999 Description: Mount pan,yaw angle when in MavLink or RC control operation mode. Range: -18000 to 17999 Description:enable roll stabilisation relative to Earth. Values: 0:Disabled, 1:Enabled Description: enable tilt,pitch stabilisation relative to Earth. Values: 0:Disabled, 1:Enabled Description: enable pan,yaw stabilisation relative to Earth. Values: 0:Disabled, 1:Enabled Description: 0 for none, any other for the RC channel to be used to control roll movements. Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8 Description: Minimum physical roll angular position of mount. Range: -18000 to 17999 Description: Maximum physical roll angular position of the mount. Range: -18000 to 17999 Description: 0 for none, any other for the RC channel to be used to control tilt (pitch) movements. Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8 Description: Minimum physical tilt (pitch) angular position of mount. Range: -18000 to 17999 Description: Maximum physical tilt (pitch) angular position of the mount. Range: -18000 to 17999 Description: 0 for none, any other for the RC channel to be used to control pan (yaw) movements. Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8 Description: Minimum physical pan (yaw) angular position of mount. Range: -18000 to 17999 Description: Maximum physical pan (yaw) angular position of the mount. Range: -18000 to 17999 Description: 0 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. Range: 0 to 100 Description: calibrated ground pressure. Description: calibrated ground temperature. Description: Set 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. Values: 0:Disabled,2:ShowSlips,3:ShowOverruns Description: Allows you to enable (1) or disable (0) the fence functionality. Values: 0:Disabled,1:Enabled Description: Enabled fence types held as bitmask. Values: 0:None,1:Altitude,2:Circle,3:Altitude and Circle Description: What to do on fence detection. Values: 0:Report Only,1:RTL or Land Description: Maximum altitude allowed before geofence triggers. Range: 10 to 1000 Description: Circle fence radius which when breached will cause an RTL. Range: 0 to 10000 Description: Controls whether a curve is used to linearize the thrust produced by the motors. Values: 0:Disabled, 1:Enable Description: Set the pwm position that produces half the maximum thrust of the motors. Range: 20 to 80 Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept. Range: 20 to 80 Description: Set to the dusitech wireless modem 24 bit MAC address. Values: User define Description: Set to the dusitech wireless modem RF power.(0: 21, 1: 17, 2: 14, 3: 11 dBm) Values: 0 to 3 Description: Set to the dusitech development mode. Values: User define