APM:Copter参考手册目录5.6.1-ArduCopter Parameters 2
ArduCopter Parameters
Eeprom format version number (ArduCopter:SYSID_SW_MREV)
Note: This parameter is for advanced users
This value is incremented when changes are made to the eeprom format
Software Type (ArduCopter:SYSID_SW_TYPE)
Note: This parameter is for advanced users
This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
Mavlink version (ArduCopter:SYSID_THISMAV)
Note: This parameter is for advanced users
Allows reconising the mavlink version
My ground station number (ArduCopter:SYSID_MYGCS)
Note: This parameter is for advanced users
Allows restricting radio overrides to only come from my ground station
Telemetry Baud Rate (ArduCopter:SERIAL3_BAUD)
The baud rate used on the telemetry port
ValueMeaning
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
Telemetry startup delay (ArduCopter:TELEM_DELAY)
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Range: 0 10
Increment: 1
Units: seconds
RTL Altitude (ArduCopter:RTL_ALT)
The minimum altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
Range: 0 8000
Increment: 1
Units: Centimeters
Enable Sonar (ArduCopter:SONAR_ENABLE)
Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
Sonar type (ArduCopter:SONAR_TYPE)
Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time)
ValueMeaning
| 0 | XL-EZ0 / XL-EZ4 |
| 1 | LV-EZ0 |
| 2 | XLL-EZ0 |
| 3 | HRLV |
Sonar gain (ArduCopter:SONAR_GAIN)
Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
Range: 0.01 0.5
Increment: 0.01
Battery monitoring (ArduCopter:BATT_MONITOR)
Controls enabling monitoring of the battery’s voltage and current
ValueMeaning
| 0 | Disabled |
| 3 | Voltage Only |
| 4 | Voltage and Current |
Battery Failsafe Enable (ArduCopter:FS_BATT_ENABLE)
Controls whether failsafe will be invoked when battery voltage or current runs low
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
GPS Failsafe Enable (ArduCopter:FS_GPS_ENABLE)
Controls whether failsafe will be invoked when gps signal is lost
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |