BATT9_ parameters

38 parameters in the BATT9_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

BATT9_AMP_OFFSET

AMP offset

Voltage offset at zero current on current sensor

Units	V
User level	Standard

BATT9_AMP_PERVLT

Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units	A/V
User level	Standard

BATT9_ARM_MAH

Required arming remaining capacity

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.

Units	mAh
Increment	50
User level	Advanced

BATT9_ARM_VOLT

Required arming voltage

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Units	V
Increment	0.1
User level	Advanced

BATT9_CAPACITY

Battery capacity

Capacity of the battery in mAh when full

Units	mAh
Increment	50
User level	Standard

BATT9_CHANNEL

INA3221 channel

INA3221 channel to return data for

Range	1 to 3
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

BATT9_CRT_MAH

Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

Units	mAh
Increment	50
User level	Standard

BATT9_CRT_VOLT

Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

Units	V
Increment	0.1
User level	Standard

BATT9_CURR_MULT

Scales reported power monitor current

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range	0.1 to 10
User level	Advanced

BATT9_CURR_PIN

Battery Current sensing pin

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Range	-1 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Standard

Values

Value	Meaning
-1	Disabled

BATT9_ESC_INDEX

ESC Telemetry Index to write to

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Range	0 to 10
Increment	1
User level	Advanced

BATT9_ESC_MASK

ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

User level

Standard

Bitmask

Value	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT9_FL_FF

First order term

First order polynomial fit term

Range	-10 to 10
User level	Advanced

BATT9_FL_FLTR

Fuel level filter frequency

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Units	Hz
Range	-1 to 1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

BATT9_FL_FS

Second order term

Second order polynomial fit term

Range	-10 to 10
User level	Advanced

BATT9_FL_FT

Third order term

Third order polynomial fit term

Range	-10 to 10
User level	Advanced

BATT9_FL_OFF

Offset term

Offset polynomial fit term

Range	-10 to 10
User level	Advanced

BATT9_FL_PIN

Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for “Analog pins”.

Range

-1 to 127

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT9_FL_VLT_MIN

Empty fuel level voltage

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Units	V
Range	0.01 to 10
User level	Advanced

BATT9_FL_V_MULT

Fuel level voltage multiplier

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	0.01 to 10
User level	Advanced

BATT9_FS_CRT_ACT

Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

User level

Standard

Values

Value	Meaning
0	Warn only
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate
6	Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
7	Brake or Land

BATT9_FS_LOW_ACT

Low battery failsafe action

What action the vehicle should perform if it hits a low battery failsafe

User level

Standard

Values

Value	Meaning
0	Warn only
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate
6	Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
7	Brake or Land

BATT9_FS_VOLTSRC

Failsafe voltage source

Voltage type used for detection of low voltage event

User level

Advanced

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT9_I2C_ADDR

Battery monitor I2C address

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range	0 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

BATT9_I2C_BUS

Battery monitor I2C bus number

Battery monitor I2C bus number

Range	0 to 3
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

BATT9_LOW_MAH

Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Units	mAh
Increment	50
User level	Standard

BATT9_LOW_TIMER

Low voltage timeout

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Units	s
Range	0 to 120
Increment	1
User level	Advanced

BATT9_LOW_VOLT

Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Units	V
Increment	0.1
User level	Standard

BATT9_MAX_AMPS

Battery monitor max current

This controls the maximum current the INA239 sensor will work with.

Units	A
Range	1 to 400
User level	Advanced

BATT9_MAX_VOLT

Maximum Battery Voltage

Maximum voltage of battery. Provides scaling of current versus voltage

Range	7 to 100
User level	Advanced

BATT9_MONITOR

Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

Reboot required	Yes — the change takes effect after a reboot.
User level	Standard

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX (INA226 INA228 INA238 INA231 INA260)
22	LTC2946
23	Torqeedo
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221
31	Analog Current Only
32	TIBQ76952-I2C (Periph only)

BATT9_OPTIONS

Battery monitor options

This sets options to change the behaviour of the battery monitor

User level

Advanced

Bitmask

Value	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT9_SERIAL_NUM

Battery serial number

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

User level

Advanced

BATT9_SHUNT

Battery monitor shunt resistor

This sets the shunt resistor used in the device

Units	Ohm
Range	0.0001 to 0.01
User level	Advanced

BATT9_SUM_MASK

Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

User level

Standard

Bitmask

Value	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT9_VLT_OFFSET

Volage offset

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units	V
User level	Advanced

BATT9_VOLT_MULT

Voltage Multiplier

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT).

User level

Advanced

BATT9_VOLT_PIN

Battery Voltage sensing pin on the AD7091R5 Ic

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Range	-1 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Standard

Values

Value	Meaning
-1	Disabled