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_OPTIONS=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 on the servos:

SCHED_LOOP_RATE=200   # As above.
ONESHOT_MASK=6        # Change to whatever channels your servos are on.

Switch arming

If you want to use switch arming rather than stick arming, here are the relevant parameters:

RCx_OPTION=153
ARMING_RUDDER=0

Last updated on November 09, 2022. For any questions/feedback, email me at hi@stavros.io.

Stavros' Notes