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Parameters

Sensor and Communication​

  • SENS_EN_LL40LS → I2C
    Set to I2C if using Garmin Lidar. Reboot and check DISTANCE_SENSOR messages in Analyze Tools → Mavlink Inspector. Verify that the data from the rangefinder is displayed.

Motor and ESC​

  • DSHOT_CONFIG → 150
    Set to 150 if your ESCs support Dshot (e.g., BLheli32, AM32). Use PWM for M690 ESCs.

  • DSHOT_MIN → 0.05%
    Minimum throttle when Dshot is enabled. Increase (max: 0.15%) if propellers stop spinning at idle.

  • SYS_USE_IO → False If you are using 1.13.2 FW(Custom) this parameter should be set to false.

Safety and Failsafe​

  • CBRK_IO_SAFETY → 0
    Enables the safety button.

  • RC_MAP_FAILSAFE → Unassigned
    For SBUS RC, leave as Unassigned. If using throttle sub-trim failsafe, set to Channel 2 (Throttle).

  • RC_FAILS_THR → 0
    For SBUS RC, set to 0. For throttle sub-trim failsafe, configure to a proper value (e.g., 950).

Magnetometer (GPS/RTK UAVs)​

Since 1.16.0, do not modify the magentometer priorities.

  • SENS_MAG_MODE → Publish Primary Magnetometer
    Use only the primary (external) magnetometer.

Magnetometer (Indoor UAVs)​

  • SYS_HAS_MAG → 0
    Disables all magnetometers.

  • EKF2_MAG_TYPE → None
    Disables magnetometer fusion in the estimator.