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_GNSS_MODE=71 # Enable GPS/SBAS/Galileo/GLONASS. GPS_RATE_MS=100 # 10 Hz update rate.
SERIALn_PROTOCOL=23 # Crossfire/ELRS. RC_OPTIONS=800 # 5 - Arming check throttle. # 8 - CRSF telemetry passthrough. # 9 - Suppress CRSF mode/rate message for ELRS.
30% expo is a good starting point:
MAN_EXPO_ROLL=30 MAN_EXPO_PITCH=30 MAN_EXPO_RUDDER=30
INS_GYRO_FILTER=60 # Faster gyro updates. SCHED_LOOP_RATE=100 # Faster scheduler updates.
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.
If you want to use switch arming rather than stick arming, here are the relevant parameters:
Last updated on November 09, 2022. For any questions/feedback, email me at firstname.lastname@example.org.