62 lines
1.4 KiB
Markdown
62 lines
1.4 KiB
Markdown
# ArduPilot recommended settings
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This section contains some recommended settings for ArduPilot. Nothing is set in stone, these are just some defaults I've found to work well.
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## GPS
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```js
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GPS_GNSS_MODE=71 # Enable GPS/SBAS/Galileo/GLONASS.
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GPS_RATE_MS=100 # 10 Hz update rate.
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```
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## Crossfire/ELRS
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```js
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SERIALn_PROTOCOL=23 # Crossfire/ELRS.
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RC_OPTIONS=800 # 5 - Arming check throttle.
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# 8 - CRSF telemetry passthrough.
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# 9 - Suppress CRSF mode/rate message for ELRS.
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```
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## Expo
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30% expo is a good starting point:
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```js
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MAN_EXPO_ROLL=30
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MAN_EXPO_PITCH=30
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MAN_EXPO_RUDDER=30
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```
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## Miscellaneous
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```js
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INS_GYRO_FILTER=60 # Faster gyro updates.
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SCHED_LOOP_RATE=100 # Faster scheduler updates.
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```
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## Servo update rate
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If you want a higher servo update rate (because of digital servos), it is probably better to set the scheduler loop rate to the frequency you want, and enable ONESHOT on the servos:
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```js
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SCHED_LOOP_RATE=200 # As above.
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ONESHOT_MASK=6 # Change to whatever channels your servos are on.
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```
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## Switch arming
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If you want to use switch arming rather than stick arming, here are the relevant parameters:
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```js
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RCx_OPTION=153
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ARMING_RUDDER=0
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```
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* * *
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<p style="font-size:80%; font-style: italic">
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Last updated on June 09, 2022. For any questions/feedback,
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email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
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</p>
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