59 lines
1.3 KiB
Markdown
59 lines
1.3 KiB
Markdown
# 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
|
|
|
|
```js
|
|
GPS_GNSS_MODE=71 # Enable GPS/SBAS/Galileo/GLONASS.
|
|
GPS_RATE_MS=100 # 10 Hz update rate.
|
|
```
|
|
|
|
## Crossfire/ELRS
|
|
|
|
```js
|
|
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:
|
|
|
|
```js
|
|
MAN_EXPO_ROLL=30
|
|
MAN_EXPO_PITCH=30
|
|
MAN_EXPO_RUDDER=30
|
|
```
|
|
|
|
## Miscellaneous
|
|
|
|
```js
|
|
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):
|
|
|
|
```js
|
|
SCHED_LOOP_RATE=100 # As above.
|
|
SERVO_BLH_OTYPE=1 # For ONESHOT.
|
|
```
|
|
|
|
With no BLHeli ESCs, change your `SERVO_RATE`:
|
|
|
|
```js
|
|
SERVO_RATE=100
|
|
```
|
|
|
|
* * *
|
|
|
|
<p style="font-size:80%; font-style: italic">
|
|
Last updated on December 31, 2021. For any questions/feedback,
|
|
email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
|
|
</p>
|