Copter parameters

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

ACRO_BAL_PITCH

Acro Balance Pitch

rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.

Range	0 to 3
Increment	0.1
User level	Advanced

ACRO_BAL_ROLL

Acro Balance Roll

rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.

Range	0 to 3
Increment	0.1
User level	Advanced

ACRO_OPTIONS

Acro mode options

A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.

User level

Advanced

Bitmask

Value	Meaning
0	Air-mode
1	Rate Loop Only

ACRO_RP_EXPO

Acro Roll/Pitch Expo

Acro roll/pitch Expo to allow faster rotation when stick at edges

Range	-0.5 to 0.95
User level	Advanced

Values

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

ACRO_RP_RATE

Acro Roll and Pitch Rate

Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation

Units	deg/s
Range	1 to 1080
User level	Standard

ACRO_RP_RATE_TC

Acro roll/pitch rate control input time constant

Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Units	s
Range	0 to 1
Increment	0.01
User level	Standard

Values

Value	Meaning
0.05	Very Crisp
0.1	Crisp
0.15	Medium
0.2	Soft
0.5	Very Soft

ACRO_THR_MID

Acro Thr Mid

Acro Throttle Mid

Range	0 to 1
User level	Advanced

ACRO_TRAINER

Acro Trainer

Type of trainer used in acro mode

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Leveling
2	Leveling and Limited

ACRO_Y_EXPO

Acro Yaw Expo

Acro yaw expo to allow faster rotation when stick at edges

Range	-1.0 to 0.95
User level	Advanced

Values

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

ACRO_Y_RATE

Acro Yaw Rate

Acro mode maximum yaw rate. Higher value means faster rate of rotation

Units	deg/s
Range	1 to 360
User level	Standard

ACRO_Y_RATE_TC

Acro yaw rate control input time constant

Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Units	s
Range	0 to 1
Increment	0.01
User level	Standard

Values

Value	Meaning
0.05	Very Crisp
0.1	Crisp
0.15	Medium
0.2	Soft
0.5	Very Soft

AUTO_OPTIONS

Auto mode options

A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot’s yaw stick being used while in auto.

User level

Advanced

Bitmask

Value	Meaning
0	Allow Arming
1	Allow Takeoff Without Raising Throttle
2	Ignore pilot yaw
7	Allow weathervaning

DEV_OPTIONS

Development options

Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning

User level

Advanced

Bitmask

Value	Meaning
0	ADSBMavlinkProcessing
1	DevOptionVFR_HUDRelativeAlt

DISARM_DELAY

Disarm delay

Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.

Units	s
Range	0 to 127
User level	Advanced

ESC_CALIBRATION

ESC Calibration

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

User level

Advanced

Values

Value	Meaning
0	Normal Start-up
1	Start-up in ESC Calibration mode if throttle high
2	Start-up in ESC Calibration mode regardless of throttle
3	Start-up and automatically calibrate ESCs
9	Disabled

FLIGHT_OPTIONS

Flight mode options

Flight mode specific options

User level

Advanced

Bitmask

Value	Meaning
0	Disable thrust loss check
1	Disable yaw imbalance warning
2	Release gripper on thrust loss

FLTMODE1

Flight Mode 1

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE2

Flight Mode 2

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE3

Flight Mode 3

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE4

Flight Mode 4

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE5

Flight Mode 5

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE6

Flight Mode 6

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750

User level

Standard

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate
27	Auto RTL
28	Turtle

FLTMODE_CH

Flightmode channel

RC Channel to use for flight mode control

User level

Advanced

Values

Value	Meaning
0	Disabled
5	Channel5
6	Channel6
7	Channel7
8	Channel8
9	Channel9
10	Channel 10
11	Channel 11
12	Channel 12
13	Channel 13
14	Channel 14
15	Channel 15

FORMAT_VERSION

Eeprom format version number

This value is incremented when changes are made to the eeprom format

User level

Advanced

FRAME_CLASS

Frame Class

Controls major frame class for multicopter component

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

Values

Value	Meaning
0	Undefined
1	Quad
2	Hexa
3	Octa
4	OctaQuad
5	Y6
6	Heli
7	Tri
8	SingleCopter
9	CoaxCopter
10	BiCopter
11	Heli_Dual
12	DodecaHexa
13	HeliQuad
14	Deca
15	Scripting Matrix
16	6DoF Scripting
17	Dynamic Scripting Matrix

FRAME_TYPE

Frame Type (+, X, V, etc)

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

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

Values

Value	Meaning
0	Plus
1	X
2	V
3	H
4	V-Tail
5	A-Tail
10	Y6B
11	Y6F
12	BetaFlightX
13	DJIX
14	ClockwiseX
15	I
18	BetaFlightXReversed
19	Y4

FSTRATE_DIV

Fast rate thread divisor

Fast rate thread divisor used to control the maximum fast rate update rate. The actual rate is the gyro rate in Hz divided by this value. This value is scaled depending on the configuration of FSTRATE_ENABLE.

Range	1 to 10
User level	Advanced

FSTRATE_ENABLE

Enable the fast Rate thread

Enable the fast Rate thread. In the default case the fast rate divisor, which controls the update frequency of the thread, is dynamically scaled from FSTRATE_DIV to avoid overrun in the gyro sample buffer and main loop slow-downs. Other values can be selected to fix the divisor to FSTRATE_DIV on arming or always.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled-Dynamic
2	Enabled-FixedWhenArmed
3	Enabled-Fixed

FS_CRASH_CHECK

Crash check enable

This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

FS_DR_ENABLE

DeadReckon Failsafe Action

Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates

User level

Standard

Values

Value	Meaning
0	Disabled/NoAction
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
6	Auto DO_LAND_START/DO_RETURN_PATH_START or RTL

FS_DR_TIMEOUT

DeadReckon Failsafe Timeout

DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate

Range	0 to 120
User level	Standard

FS_EKF_ACTION

EKF Failsafe Action

Controls the action that will be taken when an EKF failsafe is invoked

User level

Advanced

Values

Value	Meaning
0	Report only
1	Switch to Land mode if current mode requires position
2	Switch to AltHold mode if current mode requires position
3	Switch to Land mode from all modes

FS_EKF_FILT

EKF Failsafe filter cutoff

EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.

Units	Hz
Range	0 to 10
User level	Advanced

FS_EKF_THRESH

EKF failsafe variance threshold

Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.

Range	0.0 to 1.0
User level	Advanced

Values

Value	Meaning
0	Disabled
0.6	Strict
0.8	Default
1.0	Relaxed

FS_GCS_ENABLE

Ground Station Failsafe Enable

Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.

User level

Standard

Values

Value	Meaning
0	Disabled/NoAction
1	RTL
2	RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS)
3	SmartRTL or RTL
4	SmartRTL or Land
5	Land
6	Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
7	Brake or Land

FS_GCS_TIMEOUT

GCS failsafe timeout

Timeout before triggering the GCS failsafe

Units	s
Range	2 to 120
Increment	1
User level	Standard

FS_OPTIONS

Failsafe options bitmask

Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.

User level

Advanced

Bitmask

Value	Meaning
0	Continue if in Auto on RC failsafe
1	Continue if in Auto on GCS failsafe
2	Continue if in Guided on RC failsafe
3	Continue if landing on any failsafe
4	Continue if in pilot controlled modes on GCS failsafe
5	Release Gripper

FS_THR_ENABLE

Throttle Failsafe Enable

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

User level

Standard

Values

Value	Meaning
0	Disabled
1	Enabled always RTL
2	Enabled Continue with Mission in Auto Mode (Removed in 4.0+)
3	Enabled always Land
4	Enabled always SmartRTL or RTL
5	Enabled always SmartRTL or Land
6	Enabled Auto DO_LAND_START/DO_RETURN_PATH_START or RTL
7	Enabled always Brake or Land

FS_THR_VALUE

Throttle Failsafe Value

The PWM level in microseconds on channel 3 below which throttle failsafe triggers

Units	PWM
Range	910 to 1100
Increment	1
User level	Standard

FS_VIBE_ENABLE

Vibration Failsafe enable

This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations

User level

Standard

Values

Value	Meaning
0	Disabled
1	Enabled

GCS_PID_MASK

GCS PID tuning mask

bitmask of PIDs to send MAVLink PID_TUNING messages for

User level

Advanced

Bitmask

Value	Meaning
0	Roll
1	Pitch
2	Yaw
3	AccelZ

GND_EFFECT_COMP

Ground Effect Compensation Enable/Disable

Ground Effect Compensation Enable/Disable

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

GPS_HDOP_GOOD

GPS Hdop Good

GPS Hdop value at or below this value represent a good position. Used for pre-arm checks

Range	100 to 900
User level	Advanced

GUID_OPTIONS

Guided mode options

Options that can be applied to change guided mode behaviour

User level

Advanced

Bitmask

Value	Meaning
0	Allow Arming from Transmitter
2	Ignore pilot yaw
3	SetAttitudeTarget interprets Thrust As Thrust
4	Do not stabilize PositionXY
5	Do not stabilize VelocityXY
6	Waypoint navigation used for position targets
7	Allow weathervaning

GUID_TIMEOUT

Guided mode timeout

Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control

Units	s
Range	0.1 to 5
User level	Advanced

INITIAL_MODE

Initial flight mode

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.

User level

Advanced

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag
25	SystemID
26	Heli_Autorotate

LAND_REPOSITION

Land repositioning

Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.

User level

Advanced

Values

Value	Meaning
0	No repositioning
1	Repositioning

LOG_BITMASK

Log bitmask

Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535. Note that if you want to reduce log sizes you should consider using LOG_FILE_RATEMAX instead of disabling logging items with this parameter.

User level

Standard

Bitmask

Value	Meaning
0	Fast Attitude
1	Medium Attitude
2	GPS
3	System Performance
4	Control Tuning
5	Navigation Tuning
6	RC input
7	IMU
8	Mission Commands
9	Battery Monitor
10	RC output
11	Optical Flow
12	PID
13	Compass
15	Camera
17	Motors
18	Fast IMU
19	Raw IMU
20	Video Stabilization
21	Fast harmonic notch logging

PHLD_BRK_RATE

PosHold braking rate

PosHold flight mode’s rotation rate during braking in deg/sec

Units	deg/s
Range	4 to 12
User level	Advanced

PILOT_ACC_Z

Pilot vertical acceleration

The vertical acceleration used when pilot is controlling the altitude

Units	m/s/s
Range	0.5 to 5
Increment	0.1
User level	Standard

PILOT_SPD_DN

Pilot maximum vertical speed descending

The maximum vertical descending velocity the pilot may request in m/s. If 0 PILOT_SPD_UP value is used.

Units	m/s
Range	0 to 5
Increment	0.1
User level	Standard

PILOT_SPD_UP

Pilot maximum vertical speed ascending

The maximum vertical ascending velocity the pilot may request in m/s

Units	m/s
Range	0.5 to 5
Increment	0.1
User level	Standard

PILOT_THR_BHV

Throttle stick behavior

Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to “1” so motor feedback when landed starts from mid-stick instead of bottom of stick.

User level

Standard

Bitmask

Value	Meaning
0	Feedback from mid stick
1	High throttle cancels landing
2	Disarm on land detection

PILOT_THR_FILT

Throttle filter cutoff

Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable

Units	Hz
Range	0 to 10
Increment	0.5
User level	Advanced

PILOT_TKO_ALT_M

Pilot takeoff altitude

Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.

Units	m
Range	0.0 to 10.0
Increment	0.1
User level	Standard

PILOT_Y_EXPO

Pilot controlled yaw expo

Pilot controlled yaw expo to allow faster rotation when stick at edges

Range	-0.5 to 1.0
User level	Advanced

Values

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

PILOT_Y_RATE

Pilot controlled yaw rate

Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro

Units	deg/s
Range	1 to 360
User level	Standard

PILOT_Y_RATE_TC

Pilot yaw rate control input time constant

Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Units	s
Range	0 to 1
Increment	0.01
User level	Standard

Values

Value	Meaning
0.05	Very Crisp
0.1	Crisp
0.15	Medium
0.2	Soft
0.5	Very Soft

PLDP_DELAY

Payload Place climb delay

Delay after release, in seconds, before aircraft starts to climb back to starting altitude.

Units	s
Range	0 to 120
User level	Standard

PLDP_RNG_MAX

Payload Place maximum range finder altitude

Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.

Units	m
Range	0 to 100
User level	Standard

PLDP_SPEED_DN

Payload Place decent speed

The maximum vertical decent velocity in m/s. If 0 LAND_SPD_MS value is used.

Units	m/s
Range	0 to 5
User level	Standard

PLDP_THRESH

Payload Place thrust ratio threshold

Ratio of vertical thrust during decent below which payload touchdown will trigger.

Range	0.5 to 0.9
User level	Standard

RC_SPEED

ESC Update Speed

This is the speed in Hertz that your ESCs will receive updates

Units	Hz
Range	50 to 490
Increment	1
User level	Advanced

RNGFND_FILT

Rangefinder filter

Rangefinder filter to smooth distance. Set to zero to disable filtering

Units	Hz
Range	0 to 5
Increment	0.05
Reboot required	Yes — the change takes effect after a reboot.
User level	Standard

RTL_ALT_TYPE

RTL mode altitude type

RTL altitude type. Set to 1 for Terrain following during RTL and then set WP_RFND_USE=1 to use rangefinder or WP_RFND_USE=0 to use Terrain database

User level

Standard

Values

Value	Meaning
0	Relative to Home
1	Terrain

RTL_CONE_SLOPE

RTL cone slope

Defines a cone above home which determines maximum climb

Range	0 to 10.0
Increment	0.1
User level	Standard

Values

Value	Meaning
0	Disabled
1	Shallow
3	Steep

RTL_LOIT_TIME

RTL loiter time

Time (in milliseconds) to loiter above home before beginning final descent

Units	ms
Range	0 to 60000
Increment	1000
User level	Standard

RTL_OPTIONS

RTL mode options

Options that can be applied to change RTL mode behaviour

User level

Advanced

Bitmask

Value	Meaning
2	Ignore pilot yaw

SIMPLE

Simple mode bitmask

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.

User level

Advanced

Bitmask

Value	Meaning
0	SwitchPos1
1	SwitchPos2
2	SwitchPos3
3	SwitchPos4
4	SwitchPos5
5	SwitchPos6

SUPER_SIMPLE

Super Simple Mode

Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions

User level

Standard

Bitmask

Value	Meaning
0	SwitchPos1
1	SwitchPos2
2	SwitchPos3
3	SwitchPos4
4	SwitchPos5
5	SwitchPos6

SURFTRAK_MODE

Surface Tracking Mode

set which surface to track in surface tracking

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

Values

Value	Meaning
0	Do not track
1	Ground
2	Ceiling

SURFTRAK_TC

Surface Tracking Filter Time Constant

Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled

Units	s
Range	0 to 5
User level	Advanced

THROW_ALT_ACSND

Throw mode target altitude to ascsend

Target altitude to ascend during a throw upwards (must be positive). This allows for rapidly clearing surrounding obstacles.

Units	m
User level	Advanced

THROW_ALT_DCSND

Throw mode target altitude to descend

Target altitude to descend during a drop, (must be positive). This allows for rapidly clearing surrounding obstacles.

Units	m
User level	Advanced

THROW_ALT_MAX

Throw mode maximum altitude

Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check

Units	m
User level	Advanced

THROW_ALT_MIN

Throw mode minimum altitude

Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check

Units	m
User level	Advanced

THROW_MOT_START

Start motors before throwing is detected

Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.

User level

Standard

Values

Value	Meaning
0	Stopped
1	Running

THROW_NEXTMODE

Throw mode’s follow up mode

Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)

User level

Standard

Values

Value	Meaning
3	Auto
4	Guided
5	LOITER
6	RTL
9	Land
17	Brake
18	Throw

THROW_TYPE

Type of Type

Used by Throw mode. Specifies whether Copter is thrown upward or dropped.

User level

Standard

Values

Value	Meaning
0	Upward Throw
1	Drop

THR_DZ

Throttle deadzone

The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes

Units	PWM
Range	0 to 300
Increment	1
User level	Standard

TKOFF_RPM_MAX

Takeoff Check RPM maximum

Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check

Range	0 to 10000
User level	Standard

TKOFF_RPM_MIN

Takeoff Check RPM minimum

Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check

Range	0 to 10000
User level	Standard

TKOFF_SLEW_TIME

Slew time of throttle during take-off

Time to slew the throttle from minimum to maximum while checking for a successful takeoff.

Units	s
Range	0.25 to 5.0
User level	Standard

TKOFF_THR_MAX

Takeoff maximum throttle during take-off ramp up

Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process.

Range	0.0 to 0.9
User level	Advanced

TUNE

Tuning Parameter

Selects parameter (normally a PID gain) that is being tuned with an RC transmitter’s knob. The RC input channel used is assigned by setting RCx_OPTION to 219.

User level

Standard

Values

Value	Meaning
0	None
1	Stab Roll/Pitch kP
3	Stab Yaw kP
4	Rate Roll/Pitch kP
5	Rate Roll/Pitch kI
6	Rate Yaw kP
7	Throttle Rate kP
10	WP Speed
12	Loiter Pos kP
13	Heli Ext Gyro
14	AltHold kP
21	Rate Roll/Pitch kD
22	Velocity XY kP
25	Acro Roll/Pitch deg/s
26	Rate Yaw kD
28	Velocity XY kI
34	Throttle Accel kP
35	Throttle Accel kI
36	Throttle Accel kD
38	Declination
39	Circle Rate
40	Acro Yaw deg/s
45	RC Feel
46	Rate Pitch kP
47	Rate Pitch kI
48	Rate Pitch kD
49	Rate Roll kP
50	Rate Roll kI
51	Rate Roll kD
52	Rate Pitch FF
53	Rate Roll FF
54	Rate Yaw FF
55	Motor Yaw Headroom
56	Rate Yaw Filter
58	SysID Magnitude
59	PSC Angle Max
60	Loiter Speed

TUNE2

Tuning Parameter for TRANSMITTER_TUNE2

Selects parameter (normally a PID gain) that is being tuned with an RC transmitter’s knob. The RC input channel used is assigned by setting RCx_OPTION to 220.

User level

Standard

Values

Value	Meaning
0	None
1	Stab Roll/Pitch kP
3	Stab Yaw kP
4	Rate Roll/Pitch kP
5	Rate Roll/Pitch kI
6	Rate Yaw kP
7	Throttle Rate kP
10	WP Speed
12	Loiter Pos kP
13	Heli Ext Gyro
14	AltHold kP
21	Rate Roll/Pitch kD
22	Velocity XY kP
25	Acro Roll/Pitch deg/s
26	Rate Yaw kD
28	Velocity XY kI
34	Throttle Accel kP
35	Throttle Accel kI
36	Throttle Accel kD
38	Declination
39	Circle Rate
40	Acro Yaw deg/s
45	RC Feel
46	Rate Pitch kP
47	Rate Pitch kI
48	Rate Pitch kD
49	Rate Roll kP
50	Rate Roll kI
51	Rate Roll kD
52	Rate Pitch FF
53	Rate Roll FF
54	Rate Yaw FF
55	Motor Yaw Headroom
56	Rate Yaw Filter
58	SysID Magnitude
59	PSC Angle Max
60	Loiter Speed

TUNE2_MAX

Tuning maximum

Maximum value that the parameter currently being tuned with the transmitter’s TRANSMITTER2_TUNING knob will be set to

User level

Standard

TUNE2_MIN

Tuning minimum

Minimum value that the parameter currently being tuned with the transmitter’s TRANSMITTER_TUNING2 knob will be set to

User level

Standard

TUNE_MAX

Tuning maximum

Transmitter Tuning maximum value. The parameter being tuned will have its value set to this maximum value when the tuning knob is at its highest position

User level

Standard

TUNE_MIN

Tuning minimum

Transmitter Tuning minum value. The parameter being tuned will have its value set to this minimum value when the tuning knob is at its lowest position

User level

Standard

WP_NAVALT_MIN

Waypoint navigation altitude minimum

Altitude in meters above which navigation will begin during auto takeoff

Units	m
Range	0 to 5
User level	Standard

WP_YAW_BEHAVIOR

Yaw behaviour during missions

Determines how the autopilot controls the yaw during missions and RTL

User level

Standard

Values

Value	Meaning
0	Never change yaw
1	Face next waypoint
2	Face next waypoint except RTL
3	Face along GPS course