Autopilot parameters

There is a number of MAVlink parameters which are changed on autopilot during operation. Some parameters are set on the first vehicle to connect, and some are set during route upload and command execution. Any mavlink parameter supported by the autopilot can be set on vehicle connect using the conf file setting vehicle.ardupilot.parameter.

Parameters common for fixed wing and copters

Parameter	Description
GND_ALT_OFFSET	Modified if set_ground_alt_offset is set to yes. See also Set ground altitude offset.
MIS_RESTART	Modified during commands AUTO and CONTINUE.
RALLY_LIMIT_KM	Used to keep the hash of the uploaded route. See also Saving route hash on the vehicle.
Battery-related parameters
BATT_LOW_VOLT	Battery voltage that triggers a low battery failsafe.
BATT_LOW_MAH	Battery capacity at which the low battery failsafe is triggered.
BATT_FS_LOW_ACT	Low battery failsafe action.

Note: UgCS interacts only with BATT_FS_LOW_ACT parameter. The user has to set manually BATT_LOW_VOLT or\and BATT_LOW_MAH values via Mission Planner.

Copter parameters

Parameter	Description
BATT_FS_LOW_ACT	Modified if route parameters set failsafe action on low battery.
FS_EKF_ACTION	Modified if route parameters set failsafe action on GPS signal loss.
FS_THR_ENABLE	Modified if route parameters set failsafe action on RC signal loss.
RTL_ALT	Modified if route parameters set Emergency return altitude.
WP_YAW_BEHAVIOR	Set to 0 if the auto heading is set to yes. See also Vehicle heading control.

Plane and VTOL parameters


ALT_HOLD_RTL	Set if route parameters set Emergency return altitude.
TRIM_ARSPD_CM	Modified when the Click&Go command is issued on the vehicle.
LAND_FLARE_ALT	Set if vehicle profile has "Landing flare altitude" specified.
LAND_FLARE_SEC	Set if vehicle profile has "Landing flare time" specified.
LAND_PITCH_CD	Set if vehicle profile has "Minimum landing pitch" specified.
TECS_LAND_DAMP	Set if vehicle profile has "Controller sink rate to pitch gain during flare" specified.
TECS_LAND_ARSPD	Set if the vehicle profile has "Airspeed during landing approach" specified.
TECS_LAND_SPDWGT	Set if vehicle profile has "Weighting applied to speed control during landing" specified.
TECS_PITCH_MAX	Set if vehicle profile has "Maximum pitch in auto flight" specified.
LIM_PITCH_MAX	Set if vehicle profile has "Maximum pitch" specified.
THR_MIN	Set if the vehicle profile has "Minimum throttle" specified.
TECS_LAND_SINK	Set if vehicle profile has "Landing sink rate" specified.
RNGFND_LANDING	Set if the vehicle profile has "Enable rangefinder for landing" specified.
RNGFND_MIN_CM	Set if vehicle profile has "Minimum rangefinder distance" specified.