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<title>PX4 Parameters | Clover</title><meta name="description" content="Clover Drone Kit">
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aria-label="Safety tips"><!--[--><!--]--> Safety tips <!--[--><!--]--></a><!----></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Assembly <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/assembly.html" class="sidebar-item" aria-label="Clover drone assembly"><!--[--><!--]--> Clover drone assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2.html" class="sidebar-item" aria-label="Clover 4.2 assembly"><!--[--><!--]--> Clover 4.2 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2_ws.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a 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class="sidebar-item" aria-label="RC setup"><!--[--><!--]--> RC setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rc_flysky_a8s.html" class="sidebar-item" aria-label="Using Flysky FS-A8S"><!--[--><!--]--> Using Flysky FS-A8S <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/modes.html" class="sidebar-item" aria-label="Flight modes"><!--[--><!--]--> Flight modes <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/power.html" class="sidebar-item" aria-label="Power setup"><!--[--><!--]--> Power setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/failsafe.html" class="sidebar-item" aria-label="Failsafe configuration"><!--[--><!--]--> Failsafe configuration <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Manual flight <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a 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aria-label="ArUco marker detection"><!--[--><!--]--> ArUco marker detection <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/aruco_map.html" class="sidebar-item" aria-label="Map-based navigation with ArUco markers"><!--[--><!--]--> Map-based navigation with ArUco markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/optical_flow.html" class="sidebar-item" aria-label="Use of Optical Flow"><!--[--><!--]--> Use of Optical Flow <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simple_offboard.html" class="sidebar-item" aria-label="Autonomous flight"><!--[--><!--]--> Autonomous flight <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/frames.html" class="sidebar-item" aria-label="Coordinate systems (frames)"><!--[--><!--]--> Coordinate systems (frames) <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/snippets.html" class="sidebar-item" aria-label="Code examples"><!--[--><!--]--> Code examples <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/laser.html" class="sidebar-item" aria-label="Working with a laser rangefinder"><!--[--><!--]--> Working with a laser rangefinder <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds.html" class="sidebar-item" aria-label="Working with a LED strip"><!--[--><!--]--> Working with a LED strip <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gpio.html" class="sidebar-item" aria-label="Working with GPIO"><!--[--><!--]--> Working with GPIO <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sonar.html" class="sidebar-item" aria-label="Working with the ultrasonic distance gage"><!--[--><!--]--> Working with the ultrasonic distance gage <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera.html" class="sidebar-item" aria-label="Working with the camera"><!--[--><!--]--> Working with the camera <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rviz.html" 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materials <span class="down arrow"></span></p><!--[--><ul style="" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/supplementary.html" class="sidebar-item" aria-label="Supplementary materials"><!--[--><!--]--> Supplementary materials <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pix.html" class="sidebar-item" aria-label="COEX Pix"><!--[--><!--]--> COEX Pix <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pdb.html" class="sidebar-item" aria-label="COEX PDB"><!--[--><!--]--> COEX PDB <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_gps.html" class="sidebar-item" aria-label="COEX GPS"><!--[--><!--]--> COEX GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/auto_setup.html" class="sidebar-item" aria-label="Step-by-step guide on autonomous flight with Clover 4"><!--[--><!--]--> Step-by-step guide on autonomous flight with Clover 4 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/hostname.html" class="sidebar-item" aria-label="Hostname"><!--[--><!--]--> Hostname <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sitl.html" class="sidebar-item" aria-label="PX4 Simulation"><!--[--><!--]--> PX4 Simulation <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/wall_aruco.html" class="sidebar-item" aria-label="Navigation using vertical ArUco-markers"><!--[--><!--]--> Navigation using vertical ArUco-markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/calibratePID.html" class="sidebar-item" aria-label="Configuring the PID coefficients"><!--[--><!--]--> Configuring the PID coefficients <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/models.html" class="sidebar-item" aria-label="Model files for parts"><!--[--><!--]--> Model files for parts <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ros-install.html" class="sidebar-item" aria-label="ROS Melodic package installation and setup"><!--[--><!--]--> ROS Melodic package installation and setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera_calibration.html" class="sidebar-item" aria-label="Camera calibration"><!--[--><!--]--> Camera calibration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/zerotire_vpn.html" class="sidebar-item" aria-label="Creating a virtual network ZeroTier One and connecting to it"><!--[--><!--]--> Creating a virtual network ZeroTier One and connecting to it <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4g.html" class="sidebar-item" aria-label="Multi-copter control with 4G communication"><!--[--><!--]--> Multi-copter control with 4G communication <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/jetson_nano.html" class="sidebar-item" aria-label="Clover and Jetson Nano"><!--[--><!--]--> Clover and Jetson Nano <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rc.html" class="sidebar-item" aria-label="Controlling Clover from a smartphone"><!--[--><!--]--> Controlling Clover from a smartphone <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/network.html" class="sidebar-item" aria-label="Configuring Wi-Fi"><!--[--><!--]--> Configuring Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/uart.html" class="sidebar-item" aria-label="UART interface"><!--[--><!--]--> UART interface <!--[--><!--]--></a><!----></li><li><a aria-current="page" href="/clover-vuepress/en/parameters.html" class="router-link-active router-link-exact-active router-link-active sidebar-item active" aria-label="PX4 Parameters"><!--[--><!--]--> PX4 Parameters <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/flight_logs.html" class="sidebar-item" aria-label="PX4 Logs and Topics"><!--[--><!--]--> PX4 Logs and Topics <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/firmware.html" class="sidebar-item" aria-label="Pixhawk / Pixracer firmware flashing"><!--[--><!--]--> Pixhawk / Pixracer firmware flashing <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mavlink.html" class="sidebar-item" aria-label="MAVLink"><!--[--><!--]--> MAVLink <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/test_connection.html" class="sidebar-item" aria-label="How to use a multimeter?"><!--[--><!--]--> How to use a multimeter? <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/radioerrors.html" class="sidebar-item" aria-label="Possible radio failures"><!--[--><!--]--> Possible radio failures <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/esc_firmware.html" class="sidebar-item" aria-label="Flashing ESCs using BLHeliSuite"><!--[--><!--]--> Flashing ESCs using BLHeliSuite <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/arduino.html" class="sidebar-item" aria-label="Controlling the copter from Arduino"><!--[--><!--]--> Controlling the copter from Arduino <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gps.html" class="sidebar-item" aria-label="Connecting GPS"><!--[--><!--]--> Connecting GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ir_sensors.html" class="sidebar-item" aria-label="Working with IR sensors on Raspberry Pi 3"><!--[--><!--]--> Working with IR sensors on Raspberry Pi 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv_clover_4_2.html" class="sidebar-item" aria-label="Installing and configuring FPV equipment"><!--[--><!--]--> Installing and configuring FPV equipment <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv.html" class="sidebar-item" aria-label="Installation of FPV"><!--[--><!--]--> Installation of FPV <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/magnetic_grip.html" class="sidebar-item" aria-label="Assembling and setting up the electromagnetic gripper"><!--[--><!--]--> Assembling and setting up the electromagnetic gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mechanical_grip.html" class="sidebar-item" aria-label="Assembling and setting up a mechanical gripper"><!--[--><!--]--> Assembling and setting up a mechanical gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/trainer_mode.html" class="sidebar-item" aria-label="FlySky Trainer mode settings"><!--[--><!--]--> FlySky Trainer mode settings <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tinning.html" class="sidebar-item" aria-label="Blanching"><!--[--><!--]--> Blanching <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/connectortypes.html" class="sidebar-item" aria-label="Types of power connectors"><!--[--><!--]--> Types of power connectors <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4in1.html" class="sidebar-item" aria-label="Connecting 4 in 1 ESCs"><!--[--><!--]--> Connecting 4 in 1 ESCs <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tb.html" class="sidebar-item" aria-label="Soldering safety"><!--[--><!--]--> Soldering safety <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds_old.html" class="sidebar-item" aria-label="Working with a LED strip on Raspberry 3"><!--[--><!--]--> Working with a LED strip on Raspberry 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/contributing.html" class="sidebar-item" aria-label="Contribution to Clover"><!--[--><!--]--> Contribution to Clover <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/packages.html" class="sidebar-item" aria-label="COEX packages repository"><!--[--><!--]--> COEX packages repository <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate20.html" class="sidebar-item" aria-label="Migration to version 0.20"><!--[--><!--]--> Migration to version 0.20 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate22.html" class="sidebar-item" aria-label="Migration to version 0.22"><!--[--><!--]--> Migration to version 0.22 <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Events <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/events.html" class="sidebar-item" aria-label="Events"><!--[--><!--]--> Events <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2022.html" class="sidebar-item" aria-label="CopterHack 2022"><!--[--><!--]--> CopterHack 2022 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2021.html" class="sidebar-item" aria-label="CopterHack 2021"><!--[--><!--]--> CopterHack 2021 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2019.html" class="sidebar-item" aria-label="Copter Hack 2019"><!--[--><!--]--> Copter Hack 2019 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2018.html" class="sidebar-item" aria-label="Copter Hack 2018"><!--[--><!--]--> Copter Hack 2018 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2017.html" class="sidebar-item" aria-label="Copter Hack 2017"><!--[--><!--]--> Copter Hack 2017 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/video_contest.html" class="sidebar-item" aria-label="Contest for the best educational video on assembly and configuration"><!--[--><!--]--> Contest for the best educational video on assembly and configuration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/educational_contests.html" class="sidebar-item" aria-label="Educational contests"><!--[--><!--]--> Educational contests <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><!--]--></ul><!--[--><!--]--></aside><!--]--><!--[--><main class="page"><!--[--><!--]--><div class="theme-default-content"><!--[--><h1 id="px4-parameters" tabindex="-1"><a class="header-anchor" href="#px4-parameters" aria-hidden="true">#</a> PX4 Parameters</h1><p>Full documentation on PX4 parameters: <a href="https://docs.px4.io/master/en/advanced_config/parameter_reference.html" target="_blank" rel="noopener noreferrer">https://docs.px4.io/master/en/advanced_config/parameter_reference.html<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a>.</p><p>For changing PX4 parameters, use QGroundControl software, <a href="/clover-vuepress/en/gcs_bridge.html" class="">connect to Clover over Wi-Fi</a> or USB. Go to <em>Vehicle Setup</em> panel (click on the QGroundControl logo in the top-left corner) and choose <em>Parameters</em> menu.</p><h2 id="recommended-values" tabindex="-1"><a class="header-anchor" href="#recommended-values" aria-hidden="true">#</a> Recommended values</h2><h3 id="common-parameters" tabindex="-1"><a class="header-anchor" href="#common-parameters" aria-hidden="true">#</a> Common parameters</h3><table><thead><tr><th>Parameter</th><th>Value</th><th>Comment</th></tr></thead><tbody><tr><td><code>SENS_FLOW_ROT</code></td><td>0 (<em>No rotation</em>)</td><td>If using <em>PX4Flow</em> hardware, keep the default value</td></tr><tr><td><code>SENS_FLOW_MINHGT</code></td><td>0.0</td><td>For <a href="/clover-vuepress/en/laser.html" class="">VL53L1X</a> rangefinder</td></tr><tr><td><code>SENS_FLOW_MAXHGT</code></td><td>4.0</td><td>For <a href="/clover-vuepress/en/laser.html" class="">VL53L1X</a> rangefinder</td></tr><tr><td><code>SENS_FLOW_MAXR</code></td><td>10.0</td><td></td></tr><tr><td><code>SYS_HAS_MAG</code></td><td>0</td><td>If impossible to run the magnetometer (<em>No mags found</em> error)</td></tr></tbody></table><h3 id="estimator-subsystem-parameters" tabindex="-1"><a class="header-anchor" href="#estimator-subsystem-parameters" aria-hidden="true">#</a> Estimator subsystem parameters</h3><p>In case of using LPE (<a href="/clover-vuepress/en/firmware.html" class="">COEX patched firmware</a>):</p><table><thead><tr><th>Parameter</th><th>Value</th><th>Comment</th></tr></thead><tbody><tr><td><code>LPE_FUSION</code></td><td>86</td><td>Checkboxes: <em>flow</em> + <em>vis</em> + <em>land Detector</em> + <em>gyro comp</em>. If flying over horizontal floor <em>pub agl as lpos down</em> checkbox is allowed.<br>Details: <a href="/clover-vuepress/en/optical_flow.html" class="">Optical Flow</a>, <a href="/clover-vuepress/en/aruco_map.html" class="">ArUco markers</a>, <a href="/clover-vuepress/en/gps.html" class="">GPS</a>.</td></tr><tr><td><code>LPE_VIS_DELAY</code></td><td>0.0</td><td></td></tr><tr><td><code>LPE_VIS_Z</code></td><td>0.1</td><td></td></tr><tr><td><code>LPE_FLW_SCALE</code></td><td>1.0</td><td></td></tr><tr><td><code>LPE_FLW_R</code></td><td>0.2</td><td></td></tr><tr><td><code>LPE_FLW_RR</code></td><td>0.0</td><td></td></tr><tr><td><code>LPE_FLW_QMIN</code></td><td>10</td><td></td></tr><tr><td><code>ATT_W_EXT_HDG</code></td><td>0.5</td><td>Enabling usage of external yaw angle (when navigating using <a href="/clover-vuepress/en/aruco_map.html" class="">markers map</a>)</td></tr><tr><td><code>ATT_EXT_HDG_M</code></td><td>1 (<em>Vision</em>)</td><td></td></tr><tr><td><code>ATT_W_MAG</code></td><td>0</td><td>Disabling usage of the magnetometer (when navigating indoor)</td></tr></tbody></table><p>In case of using EKF2 (official firmware):</p><table><thead><tr><th>Parameter</th><th>Value</th><th>Comment</th></tr></thead><tbody><tr><td><code>EKF2_AID_MASK</code></td><td>27</td><td>Checkboxes: (optionally) <em>gps</em> + <em>flow</em> + <em>vision position</em> + <em>vision yaw</em>.<br>Details: <a href="/clover-vuepress/en/optical_flow.html" class="">Optical Flow</a>, <a href="/clover-vuepress/en/aruco_map.html" class="">ArUco markers</a>, <a href="/clover-vuepress/en/gps.html" class="">GPS</a>.</td></tr><tr><td><code>EKF2_OF_DELAY</code></td><td>0</td><td></td></tr><tr><td><code>EKF2_OF_QMIN</code></td><td>10</td><td></td></tr><tr><td><code>EKF2_OF_N_MIN</code></td><td>0.05</td><td></td></tr><tr><td><code>EKF2_OF_N_MAX</code></td><td>0.2</td><td></td></tr><tr><td><code>EKF2_HGT_MODE</code></td><td>2 (<em>Range sensor</em>)</td><td>If the <a href="/clover-vuepress/en/laser.html" class="">rangefinder</a> is present and flying over horizontal floor</td></tr><tr><td><code>EKF2_EVA_NOISE</code></td><td>0.1</td><td></td></tr><tr><td><code>EKF2_EVP_NOISE</code></td><td>0.1</td><td></td></tr><tr><td><code>EKF2_EV_DELAY</code></td><td>0</td><td></td></tr><tr><td><code>EKF2_MAG_TYPE</code></td><td>5 (<em>None</em>)</td><td>Disabling usage of the magnetometer (when navigating indoor)</td></tr></tbody></table><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>See also: list of default parameters of the <a href="/clover-vuepress/en/simulation.html" class="">Clover simulator</a>: <a href="https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover" target="_blank" rel="noopener noreferrer">https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a>.</p></div><h2 id="additional-information" tabindex="-1"><a class="header-anchor" href="#additional-information" aria-hidden="true">#</a> Additional information</h2><p>The <code>SYS_MC_EST_GROUP</code> parameter defines the estimator subsystem to use.</p><p>Estimator subsystem is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:</p><ul><li>Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;</li><li>Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);</li><li>Copter position (in the local coordinate system) – x, y, z;</li><li>Copter speed (in the local coordinate system) – vx, vy, vz;</li><li>Global coordinates of the copter – latitude, longitude, altitude;</li><li>Altitude above the surface;</li><li>Other parameters (the drift of gyroscopes, wind speed, etc.).</li></ul><p><code>SYS_AUTOCONFIG</code> — resets all parameters (sets to 1).</p><h2 id="ekf2" tabindex="-1"><a class="header-anchor" href="#ekf2" aria-hidden="true">#</a> EKF2</h2><p><code>EKF2_AID_MASK</code> — selects sensors that are used by EKF2 to calculate the copter state.</p><p><code>EKF2_HGT_MODE</code> is the main source of height data (z in the local coordinate system):</p><ul><li>0 – pressure reading on the barometer.</li><li>1 – GPS.</li><li>2 – distance meter (for example, vl53l1x).</li><li>3 – data from VPE.</li></ul><p>Variant 2 is the most accurate; however, it is correct to use it only if the surface the copter flies over is flat. Otherwise, the Z axis origin will move up and down with the altitude of the surface.</p><h2 id="multicopter-position-control" tabindex="-1"><a class="header-anchor" href="#multicopter-position-control" aria-hidden="true">#</a> Multicopter Position Control</h2><p>These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD, AUTO modes).</p><p><code>MPC_THR_HOVER</code> — hovering throttle. This option is to set to the approximate percentage of throttle needed to make the copter maintain its altitude. If copter has a tendency to gain or lose altitude during the hovering mode, reduce or increase this value.</p><p><code>MPC_XY_P</code> – position factor <em>P</em> of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause overshoots.</p><p><code>MPC_XY_VEL_P</code> – speed factor <em>P</em> of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause overshoots.</p><p><code>MPC_XY_VEL_MAX</code> — the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.</p><p><code>MPC_Z_P</code>, <code>MPC_Z_VEL_P</code> – vertical position and speed factors <em>P</em> of the ESCs they determine the copter's ability to maintain the desired altitude.</p><p><code>MPC_LAND_SPEED</code> is the vertical velocity of landing in the LAND mode.</p><h2 id="lpe-q-attitude-estimator" tabindex="-1"><a class="header-anchor" href="#lpe-q-attitude-estimator" aria-hidden="true">#</a> LPE + Q attitude estimator</h2><p>These parameters configure the behavior of the <code>lpe</code> and <code>q</code> modules, which compute the state (orientation, position) of the copter. These parameters apply <strong>only</strong> if the <code>SYS_MC_EST_GROUP</code> parameter is set to <code>1</code> (local_position_estimator, attitude_estimator_q).</p><h2 id="commander" tabindex="-1"><a class="header-anchor" href="#commander" aria-hidden="true">#</a> Commander</h2><p>Prearm checks, switching the modes and states of the copter.</p><h2 id="sensors" tabindex="-1"><a class="header-anchor" href="#sensors" aria-hidden="true">#</a> Sensors</h2><p>Enabling, disabling and configuring various sensors.</p><!--]--></div><footer class="page-meta"><div class="meta-item edit-link"><a class="external-link meta-item-label" href="https://github.com/CopterExpress/clover/edit/master/docs/en/parameters.md" rel="noopener noreferrer" target="_blank" aria-label="Edit this page"><!--[--><!--]--> Edit this page <span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span><!--[--><!--]--></a></div><!----><!----></footer><nav class="page-nav"><p class="inner"><span class="prev"><a href="/clover-vuepress/en/uart.html" class="" aria-label="UART interface"><!--[--><!--]--> UART interface <!--[--><!--]--></a></span><span class="next"><a href="/clover-vuepress/en/flight_logs.html" class="" aria-label="PX4 Logs and Topics"><!--[--><!--]--> PX4 Logs and Topics <!--[--><!--]--></a></span></p></nav><!--[--><!--]--></main><!--]--></div><!----><!--]--></div>
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