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Parameter Reference ​

NextPilot references the PX4 parameter management module; most parameter names and functions are the same. Newly added parameters and frequently used parameters are listed below:

Takeoff ​

ParameterDescription
TMB_TKOTakeoff method
COM_TAKEOFF_ACTAction after takeoff
MIS_TAKEOFF_ALTTakeoff altitude
MPC_Z_VEL_MAX_UPMaximum vertical climb rate

Mission ​

ParameterDescription
MIS_DIST_1WPMaximum distance from takeoff to the 1st waypoint
MIS_DIST_WPSMaximum distance between waypoints
MIS_YAW_ERRAcceptable heading error

Fixed-Wing ​

ParameterDescription
FW_AIRSPD_TRIMCruise airspeed
FW_AIRSPD_MINMinimum cruise airspeed limit
FW_AIRSPD_MAXMaximum cruise airspeed limit
FW_AIRSPD_STALLStall airspeed
FW_THR_CRUISECruise throttle
FW_THR_MINMinimum throttle limit
FW_THR_MAXMaximum throttle limit
FW_L1_PERIODTurn lead coefficient
NAV_FW_ACC_RADTurn lead distance
FW_P_LIM_MINMinimum pitch angle limit
FW_P_LIM_MAXMaximum pitch angle limit
FW_R_LIMRoll angle limit
FW_T_CLMB_MAXMaximum climb rate limit
FW_T_CLMB_R_SPClimb rate setpoint
FW_T_SINK_MINMinimum descent rate limit
FW_T_SINK_MAXMaximum descent rate limit
FW_T_SINK_R_SPDescent rate setpoint
NAV_LOITER_RADFixed-wing loiter radius

Multirotor ​

ParameterDescription
MPC_XY_CRUISECruise speed
MPC_Z_VEL_MAX_UPMaximum vertical climb rate
MPC_Z_VEL_MAX_DNMaximum vertical descent rate
MPC_LAND_SPEEDMultirotor landing speed
MPC_XY_VEL_MAXMaximum horizontal flight speed
MPC_VEL_MANUALMaximum speed in manual mode

Transition ​

ParameterDescription
VT_F_TRANS_THRForward transition throttle (multirotor to fixed-wing)
VT_PSHER_RMP_DTThrottle ramp time
VT_TRANS_MIN_TMMinimum blending time
VT_ARSP_BLENDBlending airspeed (transition speed must exceed it)
VT_ARSP_TRANSTransition airspeed
FW_PSP_OFFFixed-wing pitch command
VT_TRANS_TIMEOUTForward transition time limit
VT_B_REV_DELBack transition delay (fixed-wing to multirotor)
VT_B_TRANS_THRBack transition throttle
VT_B_TRANS_RAMPBack transition blending time
VT_B_TRANS_DURBack transition time limit
VT_TYPEUAV type
VT_FW_MIN_ALTMinimum fixed-wing flight altitude (relative to takeoff point)
VT_FW_QC_PFixed-wing pitch angle limit
VT_FW_QC_RFixed-wing roll angle limit
ParameterDescription
NAV_ACC_RADHorizontal lead distance
NAV_FW_ACC_RADFixed-wing horizontal turn lead
NAV_LOITER_RADLoiter radius
NAV_MC_ALT_RADMultirotor altitude lead
NAV_FW_ALT_RADFixed-wing altitude lead

Moving Platform ​

ParameterDescription
TMB_TKOMoving platform takeoff
RTL_TYPEReturn type
MPC_XY_CRUISEMultirotor cruise speed (must exceed platform speed)
RMB_FAF_ALTMoving platform return altitude
RMB_APPR_DIRMoving platform approach direction
RMB_APPR_HDGMoving platform approach heading
RMB_FAF_DISTApproach distance
RMB_RTN_ALTApproach altitude
RMB_RTN_ALT_MINMinimum approach altitude
VT_FW_MIN_ALTMinimum fixed-wing flight altitude
RMB_TRANS_B_SLDFixed-wing deceleration distance
RMB_TRANS_B_DISTFixed-wing to multirotor transition distance
RMB_LOITER_RADMoving platform loiter radius
RMB_PROHBT_RADMoving platform protection radius
RMB_MC_ACC_RADMultirotor waypoint lead distance
RMB_MC_FLT_MAXMaximum multirotor flight distance
RMB_MC_SLDMultirotor deceleration distance
RMB_FS_TGT_LTRelative position loss time threshold
RMB_FS_ACTRelative position loss protection action
RMB_FS_LOIT_RADLoiter radius after relative position loss
RMB_FS_LOIT_ALTLoiter altitude after relative position loss
RMB_FS_APT_LATDesignated loiter latitude after relative position loss
RMB_FS_APT_LONDesignated loiter longitude after relative position loss
TMB_SLD_PCTMoving platform takeoff deceleration percentage
TMB_SLD_ALTMoving platform takeoff deceleration relative altitude
LNDMC_XY_VEL_MAXMultirotor landing speed threshold
LNDFW_AIRSPD_MAXFixed-wing landing airspeed threshold
RMB_OFFSET_HDGHeading offset between the base station and the vessel
RMB_DXLanding point distance from the base station on the X axis
RMB_DYLanding point distance from the base station on the Y axis
RMB_DZLanding point distance from the base station on the Z axis

Return ​

ParameterDescription
RTL_TYPEReturn type
MPC_XY_CRUISEMultirotor cruise speed
RTL_LOITER_RADReturn loiter radius
RTL_DESCEND_ALTDescent altitude
RTL_RETURN_ALTReturn altitude
RTL_LND_HEADINGAlign to the original heading when landing
NAV_VT_DIST_SLDFixed-wing to rotor deceleration lead distance
COM_DISARM_LANDLock wait time after landing

Engine ​

ParameterDescription
ENGINE_TYPEEngine type
PWM_MAIN_REV5Throttle channel reversal
ENGINE_PWM_MINMinimum engine throttle PWM
ENGINE_PWM_OFFEngine cutoff throttle PWM
ENGINE_TEMP_MINMinimum cylinder temperature
ENGINE_TEMP_MAXMaximum cylinder temperature
ENGINE_FUEL_AMOUNTTakeoff fuel amount

RC and Telemetry Channels ​

ParameterDescription
MAV_0_PROTOCOLChannel 0: interface protocol
MAV_0_MODEChannel 0: communication mode
MAV_0_LUChannel 0: link selection
MAV_0_RATEChannel 0: maximum communication rate
MAV_0_FORWARDChannel 0: forwarding setting
MAV_0_CONFIGChannel 0: serial port selection
MAV_0_BAUDChannel 0: serial baud rate
MAV_0_RMT_IPChannel 0: UDP remote IP
MAV_0_LOC_PORTChannel 0: UDP local port
MAV_0_RMT_PORTChannel 0: UDP remote port
MAV_1_PROTOCOLChannel 1: interface protocol
MAV_1_MODEChannel 1: communication mode
MAV_1_LUChannel 1: link selection
MAV_1_RATEChannel 1: maximum communication rate
MAV_1_FORWARDChannel 1: forwarding setting
MAV_1_CONFIGChannel 1: serial port selection
MAV_1_BAUDChannel 1: serial baud rate
MAV_1_RMT_IPChannel 1: UDP remote IP
MAV_1_LOC_PORTChannel 1: UDP local port
MAV_1_RMT_PORTChannel 1: UDP remote port
MAV_2_PROTOCOLChannel 2: interface protocol
MAV_2_MODEChannel 2: communication mode
MAV_2_LUChannel 2: link selection
MAV_2_RATEChannel 2: maximum communication rate
MAV_2_FORWARDChannel 2: forwarding setting
MAV_2_CONFIGChannel 2: serial port selection
MAV_2_BAUDChannel 2: serial baud rate
MAV_2_RMT_IPChannel 2: UDP remote IP
MAV_2_LOC_PORTChannel 2: UDP local port
MAV_2_RMT_PORTChannel 2: UDP remote port
MAV_3_PROTOCOLChannel 3: interface protocol
MAV_3_MODEChannel 3: communication mode
MAV_3_LUChannel 3: link selection
MAV_3_RATEChannel 3: maximum communication rate
MAV_3_FORWARDChannel 3: forwarding setting
MAV_3_CONFIGChannel 3: serial port selection
MAV_3_BAUDChannel 3: serial baud rate
MAV_3_RMT_IPChannel 3: UDP remote IP
MAV_3_LOC_PORTChannel 3: UDP local port
MAV_3_RMT_PORTChannel 3: UDP remote port

Safety Protection Parameters ​

Low Battery Protection ​

ParameterDescription
COM_LOW_BAT_ACTFailsafe action
BAT_LOW_THRBattery warning level
BAT_CRIT_THRBattery failsafe level
BAT_EMERGEN_THRBattery emergency level

RC Protection ​

ParameterDescription
COM_RC_LOSS_TLoss time threshold
COM_RCL_ACT_TDelay before executing NAV_RCL_ACT after loss
NAV_RCL_ACTAction executed after loss
COM_RCL_EXCEPTModes that ignore RC loss
COM_RC_OVERRIDEStick override flag
COM_RC_STICK_OVStick override percentage
ParameterDescription
COM_DL_LOSS_TLoss time threshold
NAV_DLL_ACTProtection action to execute

Geofence Protection ​

ParameterDescription
GF_ACTIONAction executed when the geofence is triggered
GF_COUNTFence count limit (-1 means unlimited)
GF_MAX_HOR_DISTMaximum horizontal distance (from takeoff point)
GF_MAX_VER_DISTMaximum altitude (from takeoff point)

GNSS Loss Protection ​

ParameterDescription
NAV_GPSF_ACTAction executed after GNSS loss
NAV_GPSF_CLWhen NAV_GPSF_ACT is 0, prefer loiter or heading flight
NAV_GPSF_COGSHeading flight heading selection
NAV_GPSF_COGTHeading flight duration
NAV_GPSF_HDGHeading flight track angle
NAV_GPSF_LTLoiter time
NAV_GPSF_RLoiter specified roll angle
NAV_GPSF_PLoiter specified pitch angle
NAV_GPSF_TRLoiter specified throttle
NAV_GPSF_ALTLoiter altitude
NAV_GPSF_ARSPDCruise airspeed

Engine Failure Protection ​

ParameterDescription
EF_APT_PITCHCommanded pitch angle
EF_ROLL_MAXRoll angle limit
EF_MC_ACC_RADMultirotor lead distance
EF_RTN_ALTReturn altitude
EF_TRANS_ALTFixed-wing to multirotor altitude
EF_LOITER_RADLoiter radius
EF_MB_LOIT_ALTLoiter altitude
EF_MB_FAF_DISTApproach distance
EF_MB_APPR_DIRApproach direction
EF_MB_APPR_HDGApproach heading
ENGINE_TEMP_MINMinimum cylinder temperature
ENGINE_TEMP_MAXMaximum cylinder temperature

Formation Protection ​

ParameterDescription
NAV_FTW_MRALTMinimum altitude separation
NAV_FT_VTYPEFormation shape
NAV_FTW_L_ACTLeader loss action
COM_FTW_LOSS_TLeader loss time

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