1.3 KiB
1.3 KiB
ArduPilot recommended settings
This section contains some recommended settings for ArduPilot. Nothing is set in stone, these are just some defaults I've found to work well.
GPS
GPS_GNSS_MODE=71 # Enable GPS/SBAS/Galileo/GLONASS.
GPS_RATE_MS=100 # 10 Hz update rate.
Crossfire/ELRS
SERIALn_PROTOCOL=23 # Crossfire/ELRS.
RC_OPTION=800 # 5 - Arming check throttle.
# 8 - CRSF telemetry passthrough.
# 9 - Suppress CRSF mode/rate message for ELRS.
Expo
30% expo is a good starting point:
MAN_EXPO_ROLL=30
MAN_EXPO_PITCH=30
MAN_EXPO_RUDDER=30
Miscellaneous
INS_GYRO_FILTER=60 # Faster gyro updates.
SCHED_LOOP_RATE=100 # Faster scheduler updates.
Servo update rate
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 (assuming you have a BLHeli ESC):
SCHED_LOOP_RATE=100 # As above.
SERVO_BLH_OTYPE=1 # For ONESHOT.
With no BLHeli ESCs, change your SERVO_RATE:
SERVO_RATE=100
Last updated on December 31, 2021. For any questions/feedback, email me at hi@stavros.io.