GPS parameters

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

GPS_AUTO_CONFIG

Automatic GPS configuration

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

User level

Advanced

Values

Value	Meaning
0	Disables automatic configuration
1	Enable automatic configuration for Serial GPSes only
2	Enable automatic configuration for DroneCAN as well
3	Clear all configurations not set by ardupilot (UBlox only)

GPS_AUTO_SWITCH

Automatic Switchover Setting

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to ‘UseBest’ behaviour if 3D fix is lost on primary

User level

Advanced

Values

Value	Meaning
0	Use primary
1	UseBest
2	Blend
4	Use primary if 3D fix or better

GPS_BLEND_MASK

Multi GPS Blending Mask

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

User level

Advanced

Bitmask

Value	Meaning
0	Horiz Pos
1	Vert Pos
2	Speed

GPS_CAN_NODEID1

GPS Node ID 1

GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.

Read only	Yes
User level	Advanced

GPS_CAN_NODEID2

GPS Node ID 2

GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.

Read only	Yes
User level	Advanced

GPS_COM_PORT

GPS physical COM port

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.

Range	0 to 10
Increment	1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
0	COM1(RS232) on GSOF
1	COM2(TTL) on GSOF

GPS_COM_PORT2

GPS physical COM port

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.

Range	0 to 10
Increment	1
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

GPS_DELAY_MS

GPS delay in milliseconds

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.

Units	ms
Range	0 to 250
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

GPS_DELAY_MS2

GPS 2 delay in milliseconds

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.

Units	ms
Range	0 to 250
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

GPS_DRV_OPTIONS

driver options

Additional backend specific options

User level

Advanced

Bitmask

Value	Meaning
0	Use UART2 for moving baseline on ublox
1	Use base station for GPS yaw on SBF
2	Use baudrate 115200 on ublox
3	Use dedicated CAN port b/w GPSes for moving baseline
4	Use ellipsoid height instead of AMSL
5	Override GPS satellite health of L5 band from L1 health
6	Enable RTCM full parse even for a single channel
7	Disable automatic full RTCM parsing when RTCM seen on more than one channel
8	Force UBlox Config Get/Set for configuration then automatic configuration for Serial GPSes only

GPS_GNSS_MODE

GNSS system configuration

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.

User level

Advanced

Bitmask

Value	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_GNSS_MODE2

GNSS system configuration.

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE

User level

Advanced

Bitmask

Value	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_INJECT_TO

Destination for GPS_INJECT_DATA MAVLink packets

The GGS can send raw serial packets to inject data to multiple GPSes.

User level

Advanced

Values

Value	Meaning
0	send to first GPS
1	send to 2nd GPS
127	send to all

GPS_MIN_ELEV

Minimum elevation

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Units	deg
Range	-100 to 90
User level	Advanced

GPS_NAVFILTER

Navigation filter setting

Navigation filter engine setting

User level

Advanced

Values

Value	Meaning
0	Portable
2	Stationary
3	Pedestrian
4	Automotive
5	Sea
6	Airborne1G
7	Airborne2G
8	Airborne4G

GPS_POS1_X

Antenna X position offset

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_POS1_Y

Antenna Y position offset

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_POS1_Z

Antenna Z position offset

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_POS2_X

Antenna X position offset

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_POS2_Y

Antenna Y position offset

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_POS2_Z

Antenna Z position offset

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.

Units	m
Range	-5 to 5
Increment	0.01
User level	Advanced

GPS_PRIMARY

Primary GPS

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

Increment	1
User level	Advanced

Values

Value	Meaning
0	FirstGPS
1	SecondGPS

GPS_RATE_MS

GPS update rate in milliseconds

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS

Units	ms
Range	50 to 200
User level	Advanced

Values

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_RATE_MS2

GPS 2 update rate in milliseconds

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS

Units	ms
Range	50 to 200
User level	Advanced

Values

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_RAW_DATA

Raw data logging

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment’s SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

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

Values

Value	Meaning
0	Ignore
1	Always log
2	Stop logging when disarmed (SBF only)
5	Only log every five samples (uBlox only)

GPS_SAVE_CFG

Save GPS configuration

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

User level

Advanced

Values

Value	Meaning
0	Do not save config
1	Save config
2	Save only when needed

GPS_SBAS_MODE

SBAS Mode

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled
2	NoChange

GPS_SBP_LOGMASK

Swift Binary Protocol Logging Mask

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

User level

Advanced

Values

Value	Meaning
-256	External only (0xFF00)
-1	All (0xFFFF)
0	None (0x0000)

GPS_TYPE

1st GPS type

GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE

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

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS
22	DroneCAN-MovingBaseline-Base
23	DroneCAN-MovingBaseline-Rover
24	UnicoreNMEA
25	UnicoreMovingBaselineNMEA
26	SBF-DualAntenna

GPS_TYPE2

2nd GPS type.Renamed in 4.6 to GPS2_TYPE

GPS type of 2nd GPS

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

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS
22	DroneCAN-MovingBaseline-Base
23	DroneCAN-MovingBaseline-Rover
24	UnicoreNMEA
25	UnicoreMovingBaselineNMEA
26	SBF-DualAntenna