INS parameters¶
62 parameters in the INS family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
INS_ACC1_CALTEMP¶
Calibration temperature for 1st accelerometer
Temperature that the 1st accelerometer was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2OFFS_X¶
Accelerometer2 offsets of X axis
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2OFFS_Y¶
Accelerometer2 offsets of Y axis
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2OFFS_Z¶
Accelerometer2 offsets of Z axis
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2SCAL_X¶
Accelerometer2 scaling of X axis
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2SCAL_Y¶
Accelerometer2 scaling of Y axis
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2SCAL_Z¶
Accelerometer2 scaling of Z axis
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2_CALTEMP¶
Calibration temperature for 2nd accelerometer
Temperature that the 2nd accelerometer was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC2_ID¶
Accelerometer2 ID
Accelerometer2 sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_ACC3OFFS_X¶
Accelerometer3 offsets of X axis
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3OFFS_Y¶
Accelerometer3 offsets of Y axis
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3OFFS_Z¶
Accelerometer3 offsets of Z axis
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3SCAL_X¶
Accelerometer3 scaling of X axis
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3SCAL_Y¶
Accelerometer3 scaling of Y axis
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3SCAL_Z¶
Accelerometer3 scaling of Z axis
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3_CALTEMP¶
Calibration temperature for 3rd accelerometer
Temperature that the 3rd accelerometer was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC3_ID¶
Accelerometer3 ID
Accelerometer3 sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_ACCEL_FILTER¶
Accel filter cutoff frequency
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Units |
|
Range |
|
User level |
Advanced |
INS_ACCOFFS_X¶
Accelerometer offsets of X axis
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACCOFFS_Y¶
Accelerometer offsets of Y axis
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACCOFFS_Z¶
Accelerometer offsets of Z axis
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Units |
|
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACCSCAL_X¶
Accelerometer scaling of X axis
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACCSCAL_Y¶
Accelerometer scaling of Y axis
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACCSCAL_Z¶
Accelerometer scaling of Z axis
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Range |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_ACC_BODYFIX¶
Body-fixed accelerometer
The body-fixed accelerometer to be used for trim calculation
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
IMU 1 |
|
IMU 2 |
|
IMU 3 |
INS_ACC_ID¶
Accelerometer ID
Accelerometer sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_ENABLE_MASK¶
IMU enable mask
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
FirstIMU |
|
SecondIMU |
|
ThirdIMU |
|
FourthIMU |
|
FifthIMU |
|
SixthIMU |
|
SeventhIMU |
INS_FAST_SAMPLE¶
Fast sampling mask
Mask of IMUs to enable fast sampling on, if available
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
FirstIMU |
|
SecondIMU |
|
ThirdIMU |
INS_GYR1_CALTEMP¶
Calibration temperature for 1st gyroscope
Temperature that the 1st gyroscope was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR2OFFS_X¶
Gyro2 offsets of X axis
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR2OFFS_Y¶
Gyro2 offsets of Y axis
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR2OFFS_Z¶
Gyro2 offsets of Z axis
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR2_CALTEMP¶
Calibration temperature for 2nd gyroscope
Temperature that the 2nd gyroscope was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR2_ID¶
Gyro2 ID
Gyro2 sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_GYR3OFFS_X¶
Gyro3 offsets of X axis
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR3OFFS_Y¶
Gyro3 offsets of Y axis
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR3OFFS_Z¶
Gyro3 offsets of Z axis
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR3_CALTEMP¶
Calibration temperature for 3rd gyroscope
Temperature that the 3rd gyroscope was calibrated at
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYR3_ID¶
Gyro3 ID
Gyro3 sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_GYROFFS_X¶
Gyro offsets of X axis
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYROFFS_Y¶
Gyro offsets of Y axis
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYROFFS_Z¶
Gyro offsets of Z axis
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Units |
|
Calibration |
Written by a calibration routine — do not hand-edit. |
User level |
Advanced |
INS_GYRO_FILTER¶
Gyro filter cutoff frequency
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Units |
|
Range |
|
User level |
Advanced |
INS_GYRO_RATE¶
Gyro rate for IMUs with Fast Sampling enabled
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
Reboot required |
Yes — the change takes effect after a reboot. |
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
1kHz |
|
2kHz |
|
4kHz |
|
8kHz |
INS_GYR_CAL¶
Gyro Calibration scheme
Conrols when automatic gyro calibration is performed
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Never |
|
Start-up only |
INS_GYR_ID¶
Gyro ID
Gyro sensor ID, taking into account its type, bus and instance
Read only |
Yes |
User level |
Advanced |
INS_POS1_X¶
IMU accelerometer X position
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS1_Y¶
IMU accelerometer Y position
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS1_Z¶
IMU accelerometer Z position
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS2_X¶
IMU accelerometer X position
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS2_Y¶
IMU accelerometer Y position
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS2_Z¶
IMU accelerometer Z position
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS3_X¶
IMU accelerometer X position
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
User level |
Advanced |
INS_POS3_Y¶
IMU accelerometer Y position
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_POS3_Z¶
IMU accelerometer Z position
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Units |
|
Range |
|
Increment |
|
User level |
Advanced |
INS_RAW_LOG_OPT¶
Raw logging options
Raw logging options bitmask
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
Log primary gyro only |
|
Log all gyros |
|
Post filter |
|
Pre and post filter |
INS_STILL_THRESH¶
Stillness threshold for detecting if we are moving
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Range |
|
User level |
Advanced |
INS_TCAL_OPTIONS¶
Options for temperature calibration
This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
PersistTemps |
|
PersistAccels |
INS_TRIM_OPTION¶
Accel cal trim option
Specifies how the accel cal routine determines the trims
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Don’t adjust the trims |
|
Assume first orientation was level |
|
Assume ACC_BODYFIX is perfectly aligned to the vehicle |
INS_USE¶
Use first IMU for attitude, velocity and position estimates
Use first IMU for attitude, velocity and position estimates
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
INS_USE2¶
Use second IMU for attitude, velocity and position estimates
Use second IMU for attitude, velocity and position estimates
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
INS_USE3¶
Use third IMU for attitude, velocity and position estimates
Use third IMU for attitude, velocity and position estimates
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |