ARMING_ parameters

8 parameters in the ARMING_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

ARMING_ACCTHRESH

Accelerometer error threshold

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

Units	m/s/s
Range	0.25 to 3.0
User level	Advanced

ARMING_CRSDP_IGN

Disable CrashDump Arming check

Must have value “1” if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.

User level

Advanced

Values

Value	Meaning
0	Crash Dump arming check active
1	Crash Dump arming check deactivated

ARMING_MAGTHRESH

Compass magnetic field strength error threshold vs earth magnetic model

Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check

Units	mGauss
Range	0 to 500
User level	Advanced

ARMING_MIS_ITEMS

Required mission items

Bitmask of mission items that are required to be planned in order to arm the aircraft

User level

Advanced

Bitmask

Value	Meaning
0	Land
1	VTOL Land
2	DO_LAND_START
3	Takeoff
4	VTOL Takeoff
5	Rallypoint
6	RTL

ARMING_NEED_LOC

Require vehicle location

Require that the vehicle have an absolute position before it arms. This can help ensure that the vehicle can Return To Launch.

User level

Advanced

Values

Value	Meaning
0	Do not require location
1	Require Location

ARMING_OPTIONS

Arming options

Options that can be applied to change arming behaviour

User level

Advanced

Bitmask

Value	Meaning
0	Disable prearm display
1	Do not send status text on state change
2	Skip IMU consistency checks when ICE motor running

ARMING_RUDDER

Arming with Rudder enable/disable

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

User level

Advanced

Values

Value	Meaning
0	Disabled
1	ArmingOnly
2	ArmOrDisarm

ARMING_SKIPCHK

Arm Checks to Skip (bitmask)

Checks to skip prior to arming motor. This is a bitmask of checks before allowing arming that will be skipped. For most users it is recommended to leave this at the default of 0 (no checks skipped). In extreme circumstances, a value of -1 can be used to skip all non-mandatory current and future checks.

User level

Standard

Bitmask

Value	Meaning
1	Barometer
2	Compass
3	GPS lock
4	INS
5	Parameters
6	RC Channels
7	Board voltage
8	Battery Level
10	Logging Available
11	Hardware safety switch
12	GPS Configuration
13	System
14	Mission
15	Rangefinder
16	Camera
17	AuxAuth
18	VisualOdometry
19	FFT