BARO parameters

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

    BARO1_DEVID

    Baro ID

    Barometer sensor ID, taking into account its type, bus and instance

    Read only

    Yes

    User level

    Advanced

    BARO1_GND_PRESS

    Ground Pressure

    calibrated ground pressure in Pascals

    Units

    Pa

    Increment

    1

    Read only

    Yes

    User level

    Advanced

    BARO1_THST_SCALE

    Thrust compensation

    Thrust scaling in Pascals. This value scaled by the normalized thrust is subtracted from the barometer pressure. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.

    Range

    -300 to 300

    User level

    Advanced

    BARO2_DEVID

    Baro ID2

    Barometer2 sensor ID, taking into account its type, bus and instance

    Read only

    Yes

    User level

    Advanced

    BARO2_GND_PRESS

    Ground Pressure

    calibrated ground pressure in Pascals

    Units

    Pa

    Increment

    1

    Read only

    Yes

    User level

    Advanced

    BARO3_DEVID

    Baro ID3

    Barometer3 sensor ID, taking into account its type, bus and instance

    Read only

    Yes

    User level

    Advanced

    BARO3_GND_PRESS

    Absolute Pressure

    calibrated ground pressure in Pascals

    Units

    Pa

    Increment

    1

    Read only

    Yes

    User level

    Advanced

    BARO_ALTERR_MAX

    Altitude error maximum

    This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a “Pixhawk” with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

    Units

    m

    Range

    0 to 5000

    Increment

    1

    User level

    Advanced

    BARO_ALT_OFFSET

    altitude offset

    altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.

    Units

    m

    Increment

    0.1

    User level

    Advanced

    BARO_EXT_BUS

    External baro bus

    This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.

    User level

    Advanced

    Values

    Value

    Meaning

    -1

    Disabled

    0

    Bus0

    1

    Bus1

    6

    Bus6

    BARO_FIELD_ELV

    field elevation

    User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

    Units

    m

    Increment

    0.1

    User level

    Advanced

    BARO_FLTR_RNG

    Range in which sample is accepted

    This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

    Units

    %

    Range

    0 to 100

    Increment

    1

    BARO_GND_TEMP

    ground temperature

    User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.

    Units

    degC

    Increment

    1

    User level

    Advanced

    BARO_OPTIONS

    Barometer options

    Barometer options

    User level

    Advanced

    Bitmask

    Value

    Meaning

    0

    Treat MS5611 as MS5607

    BARO_PRIMARY

    Primary barometer

    This selects which barometer will be the primary if multiple barometers are found

    User level

    Advanced

    Values

    Value

    Meaning

    0

    FirstBaro

    1

    2ndBaro

    2

    3rdBaro

    BARO_PROBE_EXT

    External barometers to probe

    This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

    User level

    Advanced

    Bitmask

    Value

    Meaning

    0

    BMP085

    1

    BMP280

    2

    MS5611

    3

    MS5607

    4

    MS5637

    5

    FBM320

    6

    DPS280

    7

    LPS25H

    8

    Keller

    9

    MS5837

    10

    BMP388

    11

    SPL06

    12

    MSP

    13

    BMP581

    14

    AUAV