ArduCopter parameters

This page is the high-level reference for the ArduCopter parameter groups that matter in our setup. The detailed indoor.parm walkthrough is on arducopter-params-indoor; this page lists the groups and points to the right reference for each.

Groups in play

• GPS1_* — GPS configuration (we disable: GPS1_TYPE 0 indoor).
• ARMING_* — prearm checks (we use ARMING_SKIPCHK 1 for SITL).
• EK3_* — EKF3 fusion sources. The key ones (EK3_SRC1_*) are explained in EKF3 multi-sensor fusion.
• FLOW_* — optical flow integration.
• RNGFND1_* — rangefinder source for altitude.
• FENCE_* — geofence (see fence-params).
• BATT_* — battery monitor (disabled for SITL).
• LOIT_* / PILOT_* — indoor-tuned speed limits.
• ATC_* — attitude controller (PID gains; default for indoor 5-inch quad).

Where to go next

• indoor.parm — line by line
• EKF3 fusion
• Flight controller hub