BTN_ parameters

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

BTN_ENABLE

Enable button reporting

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

BTN_FUNC1

Button Pin 1 RC Channel function

Auxiliary RC Options function executed on pin change

User level

Standard

Values

Value	Meaning
0	Do Nothing
2	FLIP Mode
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder Enable
11	Fence Enable
13	Super Simple Mode
14	Acro Trainer
15	Sprayer Enable
16	AUTO Mode
17	AUTOTUNE Mode
18	LAND Mode
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount1
28	Relay1 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	BRAKE Mode
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
37	THROW Mode
38	ADSB Avoidance Enable
39	PrecLoiter Enable
40	Proximity Avoidance Enable
41	ArmDisarm (4.1 and lower)
42	SMARTRTL Mode
43	InvertedFlight Enable
44	Winch Enable
45	Winch Control
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
52	ACRO Mode
55	GUIDED Mode
56	LOITER Mode
57	FOLLOW Mode
58	Clear Waypoints
60	ZigZag Mode
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
68	STABILIZE Mode
69	POSHOLD Mode
70	ALTHOLD Mode
71	FLOWHOLD Mode
72	CIRCLE Mode
73	DRIFT Mode
75	SurfaceTrackingUpDown
76	STANDBY Mode
78	RunCam Control
79	RunCam OSD Control
80	VisOdom Align
81	Disarm
83	ZigZag Auto
84	AirMode
85	Generator
90	EKF Source Set
94	VTX Power
99	AUTO RTL
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
103	EKF lane switch attempt
104	EKF yaw reset
105	GPS Disable Yaw
109	use Custom Controller
110	KillIMU3
111	Loweheiser starter
112	SwitchExternalAHRS
113	Retract Mount2
151	TURTLE Mode
152	SIMPLE heading reset
153	ArmDisarm (4.2 and higher)
154	ArmDisarm with AirMode (4.2 and higher)
158	Optflow Calibration
159	Force IS_Flying
161	Turbine Start(heli)
162	FFT Tune
163	Mount Yaw Lock
164	Pause Stream Logging
165	Arm/Emergency Motor Stop
166	Camera Record Video
167	Camera Zoom
168	Camera Manual Focus
169	Camera Auto Focus
171	Calibrate Compasses
172	Battery MPPT Enable
174	Camera Image Tracking
175	Camera Lens
177	Mount LRF enable
178	FlightMode Pause/Resume
180	Test autotuned gains after tune is complete
182	AHRS AutoTrim
185	Mount Roll/Pitch Lock
186	Mount POI Lock
212	Mount1 Roll
213	Mount1 Pitch
214	Mount1 Yaw
215	Mount2 Roll
216	Mount2 Pitch
217	Mount2 Yaw
218	Loweheiser throttle
219	Transmitter Tuning
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8
308	Scripting9
309	Scripting10
310	Scripting11
311	Scripting12
312	Scripting13
313	Scripting14
314	Scripting15
315	Scripting16
316	Stop-Restart Scripting

BTN_FUNC2

Button Pin 2 RC Channel function

Auxiliary RC Options function executed on pin change

User level

Standard

Values

Value	Meaning
0	Do Nothing
2	FLIP Mode
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder Enable
11	Fence Enable
13	Super Simple Mode
14	Acro Trainer
15	Sprayer Enable
16	AUTO Mode
17	AUTOTUNE Mode
18	LAND Mode
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount1
28	Relay1 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	BRAKE Mode
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
37	THROW Mode
38	ADSB Avoidance Enable
39	PrecLoiter Enable
40	Proximity Avoidance Enable
41	ArmDisarm (4.1 and lower)
42	SMARTRTL Mode
43	InvertedFlight Enable
44	Winch Enable
45	Winch Control
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
52	ACRO Mode
55	GUIDED Mode
56	LOITER Mode
57	FOLLOW Mode
58	Clear Waypoints
60	ZigZag Mode
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
68	STABILIZE Mode
69	POSHOLD Mode
70	ALTHOLD Mode
71	FLOWHOLD Mode
72	CIRCLE Mode
73	DRIFT Mode
75	SurfaceTrackingUpDown
76	STANDBY Mode
78	RunCam Control
79	RunCam OSD Control
80	VisOdom Align
81	Disarm
83	ZigZag Auto
84	AirMode
85	Generator
90	EKF Source Set
94	VTX Power
99	AUTO RTL
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
103	EKF lane switch attempt
104	EKF yaw reset
105	GPS Disable Yaw
109	use Custom Controller
110	KillIMU3
111	Loweheiser starter
112	SwitchExternalAHRS
113	Retract Mount2
151	TURTLE Mode
152	SIMPLE heading reset
153	ArmDisarm (4.2 and higher)
154	ArmDisarm with AirMode (4.2 and higher)
158	Optflow Calibration
159	Force IS_Flying
161	Turbine Start(heli)
162	FFT Tune
163	Mount Yaw Lock
164	Pause Stream Logging
165	Arm/Emergency Motor Stop
166	Camera Record Video
167	Camera Zoom
168	Camera Manual Focus
169	Camera Auto Focus
171	Calibrate Compasses
172	Battery MPPT Enable
174	Camera Image Tracking
175	Camera Lens
177	Mount LRF enable
178	FlightMode Pause/Resume
180	Test autotuned gains after tune is complete
182	AHRS AutoTrim
185	Mount Roll/Pitch Lock
186	Mount POI Lock
212	Mount1 Roll
213	Mount1 Pitch
214	Mount1 Yaw
215	Mount2 Roll
216	Mount2 Pitch
217	Mount2 Yaw
218	Loweheiser throttle
219	Transmitter Tuning
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8
308	Scripting9
309	Scripting10
310	Scripting11
311	Scripting12
312	Scripting13
313	Scripting14
314	Scripting15
315	Scripting16
316	Stop-Restart Scripting

BTN_FUNC3

Button Pin 3 RC Channel function

Auxiliary RC Options function executed on pin change

User level

Standard

Values

Value	Meaning
0	Do Nothing
2	FLIP Mode
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder Enable
11	Fence Enable
13	Super Simple Mode
14	Acro Trainer
15	Sprayer Enable
16	AUTO Mode
17	AUTOTUNE Mode
18	LAND Mode
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount1
28	Relay1 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	BRAKE Mode
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
37	THROW Mode
38	ADSB Avoidance Enable
39	PrecLoiter Enable
40	Proximity Avoidance Enable
41	ArmDisarm (4.1 and lower)
42	SMARTRTL Mode
43	InvertedFlight Enable
44	Winch Enable
45	Winch Control
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
52	ACRO Mode
55	GUIDED Mode
56	LOITER Mode
57	FOLLOW Mode
58	Clear Waypoints
60	ZigZag Mode
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
68	STABILIZE Mode
69	POSHOLD Mode
70	ALTHOLD Mode
71	FLOWHOLD Mode
72	CIRCLE Mode
73	DRIFT Mode
75	SurfaceTrackingUpDown
76	STANDBY Mode
78	RunCam Control
79	RunCam OSD Control
80	VisOdom Align
81	Disarm
83	ZigZag Auto
84	AirMode
85	Generator
90	EKF Source Set
94	VTX Power
99	AUTO RTL
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
103	EKF lane switch attempt
104	EKF yaw reset
105	GPS Disable Yaw
109	use Custom Controller
110	KillIMU3
111	Loweheiser starter
112	SwitchExternalAHRS
113	Retract Mount2
151	TURTLE Mode
152	SIMPLE heading reset
153	ArmDisarm (4.2 and higher)
154	ArmDisarm with AirMode (4.2 and higher)
158	Optflow Calibration
159	Force IS_Flying
161	Turbine Start(heli)
162	FFT Tune
163	Mount Yaw Lock
164	Pause Stream Logging
165	Arm/Emergency Motor Stop
166	Camera Record Video
167	Camera Zoom
168	Camera Manual Focus
169	Camera Auto Focus
171	Calibrate Compasses
172	Battery MPPT Enable
174	Camera Image Tracking
175	Camera Lens
177	Mount LRF enable
178	FlightMode Pause/Resume
180	Test autotuned gains after tune is complete
182	AHRS AutoTrim
185	Mount Roll/Pitch Lock
186	Mount POI Lock
212	Mount1 Roll
213	Mount1 Pitch
214	Mount1 Yaw
215	Mount2 Roll
216	Mount2 Pitch
217	Mount2 Yaw
218	Loweheiser throttle
219	Transmitter Tuning
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8
308	Scripting9
309	Scripting10
310	Scripting11
311	Scripting12
312	Scripting13
313	Scripting14
314	Scripting15
315	Scripting16
316	Stop-Restart Scripting

BTN_FUNC4

Button Pin 4 RC Channel function

Auxiliary RC Options function executed on pin change

User level

Standard

Values

Value	Meaning
0	Do Nothing
2	FLIP Mode
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder Enable
11	Fence Enable
13	Super Simple Mode
14	Acro Trainer
15	Sprayer Enable
16	AUTO Mode
17	AUTOTUNE Mode
18	LAND Mode
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount1
28	Relay1 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	BRAKE Mode
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
37	THROW Mode
38	ADSB Avoidance Enable
39	PrecLoiter Enable
40	Proximity Avoidance Enable
41	ArmDisarm (4.1 and lower)
42	SMARTRTL Mode
43	InvertedFlight Enable
44	Winch Enable
45	Winch Control
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
52	ACRO Mode
55	GUIDED Mode
56	LOITER Mode
57	FOLLOW Mode
58	Clear Waypoints
60	ZigZag Mode
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
68	STABILIZE Mode
69	POSHOLD Mode
70	ALTHOLD Mode
71	FLOWHOLD Mode
72	CIRCLE Mode
73	DRIFT Mode
75	SurfaceTrackingUpDown
76	STANDBY Mode
78	RunCam Control
79	RunCam OSD Control
80	VisOdom Align
81	Disarm
83	ZigZag Auto
84	AirMode
85	Generator
90	EKF Source Set
94	VTX Power
99	AUTO RTL
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
103	EKF lane switch attempt
104	EKF yaw reset
105	GPS Disable Yaw
109	use Custom Controller
110	KillIMU3
111	Loweheiser starter
112	SwitchExternalAHRS
113	Retract Mount2
151	TURTLE Mode
152	SIMPLE heading reset
153	ArmDisarm (4.2 and higher)
154	ArmDisarm with AirMode (4.2 and higher)
158	Optflow Calibration
159	Force IS_Flying
161	Turbine Start(heli)
162	FFT Tune
163	Mount Yaw Lock
164	Pause Stream Logging
165	Arm/Emergency Motor Stop
166	Camera Record Video
167	Camera Zoom
168	Camera Manual Focus
169	Camera Auto Focus
171	Calibrate Compasses
172	Battery MPPT Enable
174	Camera Image Tracking
175	Camera Lens
177	Mount LRF enable
178	FlightMode Pause/Resume
180	Test autotuned gains after tune is complete
182	AHRS AutoTrim
185	Mount Roll/Pitch Lock
186	Mount POI Lock
212	Mount1 Roll
213	Mount1 Pitch
214	Mount1 Yaw
215	Mount2 Roll
216	Mount2 Pitch
217	Mount2 Yaw
218	Loweheiser throttle
219	Transmitter Tuning
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8
308	Scripting9
309	Scripting10
310	Scripting11
311	Scripting12
312	Scripting13
313	Scripting14
314	Scripting15
315	Scripting16
316	Stop-Restart Scripting

BTN_OPTIONS1

Button Pin 1 Options

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

User level

Standard

Bitmask

Value	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS2

Button Pin 2 Options

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

User level

Standard

Bitmask

Value	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS3

Button Pin 3 Options

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask

Value	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS4

Button Pin 4 Options

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

User level

Standard

Bitmask

Value	Meaning
0	PWM Input
1	InvertInput

BTN_PIN1

First button Pin

Digital pin number for first button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN2

Second button Pin

Digital pin number for second button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN3

Third button Pin

Digital pin number for third button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN4

Fourth button Pin

Digital pin number for fourth button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Range	-1 to 127
User level	Standard

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_REPORT_SEND

Report send time

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

Range	0 to 3600
User level	Standard