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CMiller
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kbmill-brick-retrieval

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chunk-0000	Fly By Wire A (Fbwa)	# ACRO Mode ACRO (for acrobatic) is a mode for advanced users that provides rate based stabilization with optional attitude lock. It is a good choice for people who want to push their plane harder than you can in FLY BY WIRE A (FBWA) or STABILIZE mode without flying in MANUAL . This is the mode to use for rolls, loops...	acro-mode.html	Fly By Wire A (Fbwa)	1	false	234	technical_reference
chunk-0001	Fly By Wire A (Fbwa)	To use this mode you need to set up ACRO_YAW_RATE (if using yaw rate controller), ACRO_ROLL_RATE and ACRO_PITCH_RATE . These default to 180 degrees/second (and 0, ie no limit, for yaw.However, for AUTOTUNE on yaw axis to work, it must be set to a non-zero value. 90 degrees/second is suggested), and control how responsi...	acro-mode.html	Fly By Wire A (Fbwa)	1	false	504	technical_reference
chunk-0002	Fly By Wire A (Fbwa)	Performing a loop is just as simple - just start with wings level then pull back on the elevator stick while leaving the aileron alone. The controller will try to hold your roll attitude through the loop. You can stop the loop upside down if you like as part of maneuvers such as Immelman turns or cuban eights. Note tha...	acro-mode.html	Fly By Wire A (Fbwa)	1	false	366	technical_reference
chunk-0003	ACRO MODE ATTITUDE LOCKING	## ACRO MODE ATTITUDE LOCKING By enabling the ACRO_LOCKING parameter, whatever attitude (roll and pitch angle) the pilot places the plane in, upon releasing the sticks, the autopilot will not only resist rate changes (caused by trim or turbulence), but also attempt to hold and correct back to that attitude. Note that ...	acro-mode.html	ACRO MODE ATTITUDE LOCKING	1	false	377	technical_reference
chunk-0004	Using an Airspeed Sensor	# Using an Airspeed Sensor Plane supports the use of an airspeed sensor, which can help in windy conditions, slow flight and autonomous landings. It is not recommended for most new users, however, as it does require additional tuning and adds one more layer of control to set up. The following sections explain how to w...	airspeed.html	Using an Airspeed Sensor	1	false	101	technical_reference
chunk-0005	ARSPD_USE	## ARSPD_USE ARSPD_USE enables airspeed use for automatic throttle modes instead of TRIM_THROTTLE as the target throttle setting (altered by TECS (Total Energy Control System) for Speed and Height Tuning Guide as needed during altitude control) . The autopilot continues to display and log airspeed if set to 0, but onl...	airspeed.html	ARSPD_USE	1	false	190	technical_reference
chunk-0006	Airspeed Sensor Type	## Airspeed Sensor Type Airspeed sensors can be either analog or digital. The analog sensors connect to an A/D converter input pin on the autopilot, while digital sensors connect to the autopilot’s external I2C bus using the SDA and SCL external digital I/O pins or via DroneCAN. The type is set by the ARSPD_TYPE param...	airspeed.html	Airspeed Sensor Type	1	false	205	technical_reference
chunk-0007	Autopilot Airspeed Connection	## Autopilot Airspeed Connection A list of digital and DroneCAN airspeed sensors are listed below . ### I2C Connect the airspeed sensor to autopilots’s I2C port (or I2C splitter module). The ARSPD_BUS parameter must be set for the bus used to connect the sensor. Normally this defaults to “1” , and corresponds to the ...	airspeed.html	Autopilot Airspeed Connection	1	false	334	technical_reference
chunk-0008	Installing the Pitot Tubes	## Installing the Pitot Tubes When you place the airspeed sensor in your aircraft, use the pitot tube set in the kit (the kit comes with a single tube to measure both static and total pressure). In the case of the EasyStar , you’ll need to push it through the foam in the cockpit so it points straight into the airstrea...	airspeed.html	Installing the Pitot Tubes	1	false	250	technical_reference
chunk-0009	Checking operation	## Checking operation You can check the airspeed reading with Mission Planner or another ground station. Just blow on the pitot tube or press your finger over it and observe the response. In still air oscillation between zero and small values (2-3) is normal. The airspeed varies with the square root of the pressure, s...	airspeed.html	Checking operation	1	false	413	technical_reference
chunk-0010	Miscalibration Safeguards	## Miscalibration Safeguards In order to help prevent Airspeed sensor use when its been miss-calibrated either during ground static calibration during the power up sequence, or by accidental parameter changes to offset or ratio, three parameters are available. If the ground speed is consistently lower than the reporte...	airspeed.html	Miscalibration Safeguards	1	false	258	technical_reference
chunk-0011	Failure	## Failure A failing airspeed sensor can lead to the aircraft stalling or over-speeding, this is something that is hard for ArduPilot to detect. Likewise, accidentally miscalibrating the offset during ground initialization can occur if the pitot tube is not covered to prevent wind upsetting the calibration, and can re...	airspeed.html	Failure	1	false	350	technical_reference
chunk-0012	Airspeed sensors available from ArduPilot Partners:	## Airspeed sensors available from ArduPilot Partners: ### I2C 4525DO CUAV Holybro Matek 4525DO mRobotics TBS ASP5033 Qiotek ASP5033 DLVR Matek DLVR TBS ### DroneCAN 3DR ASUAV 3DR ASUAV DroneCAN Airspeed/Barometer 6897 Foxtech AEROFOX Airspeed/Compass Amphenol AUAV (static and dynamic pressure) Beyond Robo...	airspeed.html	Airspeed sensors available from ArduPilot Partners:	1	false	140	technical_reference
chunk-0013	Plane Failsafe Function	# Plane Failsafe Function Plane has a limited failsafe function which is designed to do four things: Detects a RC Failsafe condition and then initiating a defined response, such as returning to home. Detection of an RC Failsafe is either a complete loss, or corruption, of RC signals, or the receiver sets a FS bit in ...	apms-failsafe-function.html	Plane Failsafe Function	1	false	217	technical_reference
chunk-0014	Plane Failsafe Function	Optionally, detect loss of telemetry (GCS Failsafe) and take an programmable action, such as switching to return to launch (RTL) mode. Either of the above have two phases: Short Failsafe which occurs a programmable time after loss of RC or telemetry, which allows optionally circling to try to recover the signals, and i...	apms-failsafe-function.html	Plane Failsafe Function	1	false	269	technical_reference
chunk-0015	RC Failsafe	## RC Failsafe ### Radio Signal Failure If the received signal is lost or the control information corrupted for greater than RC_FS_TIMEOUT (default = 1 sec), or the receiver sets its “failsafe bit” in protocols which have this (like Sbus, FPort, etc.), or RC_OVERRIDES are lost if using a GCS only is being used, then ...	apms-failsafe-function.html	RC Failsafe	1	false	92	technical_reference
chunk-0016	section below will be taken, if the	## section below will be taken, if the section below will be taken, if the THR_FAILSAFE parameter is 1. Note by setting RC_OPTIONS bit 2, you can force ArduPilot to ignore the “failsafe” bits in the protocol, and only initiate RC Failsafe due to missing or corrupted control information. ### Throttle Failsafe In addi...	apms-failsafe-function.html	section below will be taken, if the	1	false	514	technical_reference
chunk-0017	section below will be taken, if the	## section below will be taken, if the This can be done several ways: When you do the RC Calibration setup step, change the trim tab for the throttle channel to adjust its signal 40-50us above THR_FS_VALUE at low throttle stick. This will be the normal operating position. Lowering the trim tab and setting the THR_FS_...	apms-failsafe-function.html	section below will be taken, if the	1	false	492	technical_reference
chunk-0018	section below will be taken, if the	## section below will be taken, if the See FS_LONG_ACTN parameter below for how each mode responds to the selected action value. If the RC Failsafe condition is later exited, a message will be displayed that the Long Failsafe is cleared, but the flight mode will not revert. If it was a Throttle Failsafe that caused th...	apms-failsafe-function.html	section below will be taken, if the	1	false	508	technical_reference
chunk-0019	section below will be taken, if the	## section below will be taken, if the If not, recheck that the parameters above have been set correctly. ### Older Receivers Some very old RC receivers cannot be set to send “no pulses” when losing RC signal and simple hold the ROLL/PITCH/YAW RC channels at their last value and set the throttle channel to its minimu...	apms-failsafe-function.html	section below will be taken, if the	1	false	158	technical_reference
chunk-0020	GCS Failsafe	## GCS Failsafe How it works. When flying while using telemetry on the GCS, the autopilot can be programmed to trigger into failsafe mode if it loses telemetry from its primary GCS (set by MAV_GCS_SYSID ). In the event that the autopilot stops receiving MAVlink (telemetry protocol) heartbeat messages from it, FS_LONG_...	apms-failsafe-function.html	GCS Failsafe	1	false	405	technical_reference
chunk-0021	Configuring for valid RC outputs while in RC Failsafe	## Configuring for valid RC outputs while in RC Failsafe Normally, the RC channels are ignored when in RC Failsafe (except the throttle channel, but for failsafe detection exit only). Sometimes it is desirable to allow the preset signal loss values( for receivers capable of this ), to be used in the event of an RC fai...	apms-failsafe-function.html	Configuring for valid RC outputs while in RC Failsafe	1	false	406	technical_reference
chunk-0022	Battery Failsafe	## Battery Failsafe Note This failsafe requires the vehicle have a working Power Module . Note ArduPilot supports up to 10 batteries/power monitors. All the discussion below applies to those optional batteries also. Each can trigger a failsafe and each can have different actions and setup values. In addition, a gro...	apms-failsafe-function.html	Battery Failsafe	1	false	392	technical_reference
chunk-0023	Battery Failsafe	Default is zero. BATT_FS_CRT_ACT - holds the secondary action to take. A reasonable setup would be to have BATT_FS_LOW_ACT = 1 (RTL) and BATT_FS_CRT_ACT = 2 (Land) ### Advanced Battery Failsafe Settings BATT_FS_VOLTSRC allows configuring whether the raw battery voltage or a sag corrected voltage is used BATT_LOW_TIM...	apms-failsafe-function.html	Battery Failsafe	1	false	241	technical_reference
chunk-0024	Failsafe Parameters and their Meanings	## Failsafe Parameters and their Meanings ### Short failsafe action ( ### FS_SHORT_ACTN ### ) The action to immediately take on a RC failsafe event . No Action is ever taken for Short FailSafe in these modes: CIRCLE RTL TAKEOFF QRTL QLAND LOITER to Alt and QLAND FS_SHORT_ACTN = 3 disables taking action in ANY ...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	549	technical_reference
chunk-0025	Failsafe Parameters and their Meanings	No Action is ever taken for Short FailSafe in these modes: CIRCLE RTL TAKEOFF QRTL QLAND LOITER to Alt and QLAND FS_SHORT_ACTN = 3 disables taking action in ANY mode Note if in AutoLanding in AUTO or AUTOLAND, it will always continue to the landing In QuadPlanes, Short FailSafe will force QLAND by default, RT...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	533	technical_reference
chunk-0026	Failsafe Parameters and their Meanings	No Action is ever taken for Long FailSafe in these modes: RTL QRTL QLAND LOITER to Alt and QLAND In QuadPlanes, Long FailSafe will force QLAND by default, RTL if bit 20 of Q_OPTIONS is set, or QRTL if bit 5 of Q_OPTIONS is set, if entered from these modes: QSTABILIZE QHOVER QLOITER QACRO QAUTOTUNE Otherwise:...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	406	technical_reference
chunk-0027	Failsafe Parameters and their Meanings	## Failsafe Parameters and their Meanings There are three possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messa...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	242	technical_reference
chunk-0028	Failsafe Diagnosis in Logs or GCS	## Failsafe Diagnosis in Logs or GCS GCSs will often display text indicating the type of failsafe encountered, such as “Failsafe Short event on: type=1/reason=3”. Type and Reason can be determined using the table below: TYPE MEANING 0 None 1 Short Failsafe 2 Long Failsafe 3 GCS Failsafe REASON MEANING 0 Unknown 1 RC ...	apms-failsafe-function.html	Failsafe Diagnosis in Logs or GCS	1	false	126	technical_reference
chunk-0029	Setup for Plane	# Setup for Plane Just want to get up and running as fast as possible? Here’s a guide to the simplest approach. There’s a lot more Plane can do, but this will give you a taste: Note This section assumes that you’ve already chosen and built a frame (Plane, Flying Wing, V-Tail, QuadPlane, Tilt-Rotor, etc.) and have se...	arduplane-setup.html	Setup for Plane	1	false	125	technical_reference
chunk-0030	Arming Plane	# Arming Plane Before you can fly your plane you need to arm it. Arming the aircraft before flight has two purposes: prevent the motor from turning when the pilot is not ready to fly (a safety feature) prevent takeoff before the autopilot is fully configured and ready to fly The key thing that arming does is to ena...	arming-your-plane.html	Arming Plane	1	false	236	technical_reference
chunk-0031	Arming Plane	When the plane is powered, ALWAYS avoid placing hands in the vicinity of the propeller, even when the throttle is disarmed. If all is not well with the autopilot electronics or software there is always a slight possibility that signal could unintentionally reach the motor. Even though this is unlikely (and made even le...	arming-your-plane.html	Arming Plane	1	false	97	technical_reference
chunk-0032	Configuring Arming	## Configuring Arming There are three parameters which control how arming works: ARMING_REQUIRE : this controls whether an arming step is required. The default is 1, meaning that arming is required before takeoff. If set to 0 then arming is not required (the plane starts off armed). ARMING_SKIPCHK : this controls wha...	arming-your-plane.html	Configuring Arming	1	false	270	technical_reference
chunk-0033	Arming Checks	## Arming Checks Before allowing arming the autopilot checks a set of conditions. All conditions must pass for arming to be allowed. If any condition fails then a message explaining what failed is set to the GCS. Any or all of the Pre-Arming Checks can be disabled, but it is not recommended. See the Pre-Arm Safety Che...	arming-your-plane.html	Arming Checks	1	false	216	technical_reference
chunk-0034	How to Arm	## How to Arm When you are ready to fly you can ask Plane to arm. This can be done in three ways: Rudder Arming . Hold the rudder stick fully to the right and the throttle stick fully down for 3 seconds. Note when rudder arming in QuadPlanes with an autotakeoff, the motors will spin at Q_M_SPIN_ARM and not takeoff u...	arming-your-plane.html	How to Arm	1	false	249	technical_reference
chunk-0035	How to Disarm	## How to Disarm If setup, you can use one of the RC_xOPTION switches that includes that function. See switch option “81”, “153, or “154”. Warning This is UNCONDITIONAL . If done while in flight, all motors disarm and you must have throttle at idle before re-arming can occur! It is also possible to disarm using the t...	arming-your-plane.html	How to Disarm	1	false	320	technical_reference
chunk-0036	Visual and Audible signals	## Visual and Audible signals ArduPlane will provide visual and audio clues to the arming state if your autopilot has notification LEDs and a buzzer. The clues are: if the autopilot is disarmed, but is ready to arm then the large 3-colour LED will be flashing green if the autopilot is armed and ready to fly the larg...	arming-your-plane.html	Visual and Audible signals	1	false	176	technical_reference
chunk-0037	Throttle output when disarmed	## Throttle output when disarmed When the plane is disarmed the throttle channel will not respond to pilot input. There are two possible behaviors you can configure: ARMING_REQUIRE = 1. When disarmed the minimum value for the throttle channel (normally RC3_MIN) will be sent to the throttle channel ARMING_REQUIRE = 2...	arming-your-plane.html	Throttle output when disarmed	1	false	489	technical_reference
chunk-0038	Throttle output when disarmed	### Rudder arming If you are using right-rudder + zero-throttle to arm and you don’t get a message on your GCS giving a arming failure reason then it may be that your RC calibration is a bit off and the autopilot is not quite seeing zero throttle or isn’t quite seeing full right rudder. ### Reasons for refusing to arm...	arming-your-plane.html	Throttle output when disarmed	1	false	516	technical_reference
chunk-0039	Throttle output when disarmed	## Throttle output when disarmed This means the EKF is not healthy. Often this is due to large variations in GPS position and/or velocity reports, even if a solid 3D lock is reported by the GPS and HDOP is low. Be sure your GPS has a clear “view” of the sky with no obstructions. If the error persists then try rebootin...	arming-your-plane.html	Throttle output when disarmed	1	false	393	technical_reference
chunk-0040	Fly By Wire_A (Fbwa)	# AUTO Mode In AUTO mode Plane will follow a mission (a set of GPS waypoints and other commands) set by your ground station. When re-entering AUTO mode Plane will continue from whatever mission item it was last doing, unless you have reset the mission. If the mission ends with an item that does not continue indefinite...	auto-mode.html	Fly By Wire_A (Fbwa)	1	false	249	technical_reference
chunk-0041	Fly By Wire_A (Fbwa)	The speed during the mission is nominally at AIRSPEED_CRUISE when using an airspeed sensor, or at whatever speed results from TRIM_THROTTLE without an airspeed sensor. Setting THROTTLE_NUDGE = 1 allows the speed to be increased if the throttle stick is above mid-stick up to AIRSPEED_MAX or THR_MAX , when using or not u...	auto-mode.html	Fly By Wire_A (Fbwa)	1	false	225	technical_reference
chunk-0042	MISSION INTERRUPTION	## MISSION INTERRUPTION Changing out of AUTO Mode leaves whatever mission item being executed in a “suspended” state. Re-entry into AUTO mode later will either resume execution of the mission where it was left or restart the mission depending on the value of the MIS_RESTART parameter. By default, it will resume. If yo...	auto-mode.html	MISSION INTERRUPTION	1	false	182	technical_reference
chunk-0043	Automatic Landing	# Automatic Landing This article explains how to autonomously land Plane as part of a mission plan or the new AUTOLAND mode (available in ver 4.7(dev/latest) and later, see AUTOLAND Mode ), and includes information about how a landing can be safely aborted. Switching to AUTO mode and executing an autolanding can also ...	automatic-landing.html	Automatic Landing	1	false	85	technical_reference
chunk-0044	Configuring for Automatic Landing	## Configuring for Automatic Landing To autoland the plane you need to add a NAV_LAND command to the end of your mission indicating the latitude, longitude and altitude of your desired touchdown point and if aborting the autoland is allowed. When the preceding waypoint is reached, it will descend and navigate to the t...	automatic-landing.html	Configuring for Automatic Landing	1	false	364	technical_reference
chunk-0045	Basic Autolanding	## Basic Autolanding The phases of an autolanding are: Passing final approach waypoint Navigating to the flare point on a “glide-slope” (ie controlled descent) Flare and touchdown ### Setting Up the Approach Waypoint The autolanding begins after reaching the last navigation waypoint before the NAV_LAND waypoint (...	automatic-landing.html	Basic Autolanding	1	false	438	technical_reference
chunk-0046	Basic Autolanding	## Basic Autolanding We will designate the last waypoint before the NAV_LAND as the “final approach” waypoint and the one before it the “pre-approach” waypoint, as shown above. The next figure shows these waypoints incorrectly placed, without sufficient spacing: The above shows a planned approach with the pre-approac...	automatic-landing.html	Basic Autolanding	1	false	505	technical_reference
chunk-0047	Basic Autolanding	## Basic Autolanding This would apply not only to autolandings but any TECS speed controlled flight stage. The key parameters that control automatic landing are: LAND_FLARE_ALT LAND_FLARE_SEC LAND_PITCH_DEG TECS_LAND_SINK TECS_SINK_MAX TECS_SINK_MIN TECS_LAND_THR Note The TECS parameters are related to the gl...	automatic-landing.html	Basic Autolanding	1	false	513	technical_reference
chunk-0048	Basic Autolanding	## Basic Autolanding Whichever is reached first will force the beginning of the flare.The appropriate values for these two parameters depends on how the autopilot is estimating its altitude above the ground. If you are relying solely on a barometer for landing altitude then you will probably need higher values, to acc...	automatic-landing.html	Basic Autolanding	1	false	501	technical_reference
chunk-0049	Basic Autolanding	## Basic Autolanding Have a look at the TECS tuning page for more information. You should also be aware that many model aircraft can glide for long distances, and it may be that your requested glide slope and airspeed combination just isn’t achievable. ### Controlling the flare The final stage of the landing is calle...	automatic-landing.html	Basic Autolanding	1	false	456	technical_reference
chunk-0050	Basic Autolanding	## Basic Autolanding If landing too short, decrease the percentage from its default of 50%, conversely, increasing it if landing too long. The transition from the glide-slope sink rate to the flare sink rate is controlled by the TECS_FLARE_HGT parameter and should normally be set below LAND_FLARE_ALT . The start of th...	automatic-landing.html	Basic Autolanding	1	false	501	technical_reference
chunk-0051	Basic Autolanding	## Basic Autolanding A larger number will cause the pitch demand to change more slowly. This parameter can be used to reduce issues with sudden pitch changes when the flare happens. Note you can use STICK_MIXING to allow manual adjustments during the flare, if needed, while tuning the above parameters. Note For most...	automatic-landing.html	Basic Autolanding	1	false	460	technical_reference
chunk-0052	Improving the landing	## Improving the landing The key to a good landing is the autopilot knowing how far off the ground it is. With the default setup the only sensor available to detect altitude is the barometer. Unfortunately barometers suffer from three main types of error: barometric drift due to changes in atmospheric pressure barom...	automatic-landing.html	Improving the landing	1	false	417	technical_reference
chunk-0053	Fly By Wire_A (Fbwa)	# AUTOTUNE Mode The AUTOTUNE mode flies in the same way as FLY BY WIRE_A (FBWA) , but it does automatic tuning of roll and pitch control gains. Please read the full documentation on AUTOTUNE for more details. Previous	autotune-mode.html	Fly By Wire_A (Fbwa)	1	false	52	technical_reference
chunk-0054	CIRCLE Mode	# CIRCLE Mode Circle mode is similar to LOITER , but doesn’t attempt to hold position. This is primarily meant to be used as an initial failsafe mode to allow the vehicle to turn in order to hopefully regain radio control signal and pilot control. See failsafe documentation for more information. Circle mode is deliber...	circle-mode.html	CIRCLE Mode	1	false	176	technical_reference
chunk-0055	Accelerometer Calibration	# Accelerometer Calibration This article shows how to perform basic accelerometer calibration (using Mission Planner ). The accelerometers in the autopilot must be calibrated to correct for their bias offsets in all three axes, as well as any off-axis variations. Attention Accelerometer calibration is mandatory in Ar...	common-accelerometer-calibration.html	Accelerometer Calibration	1	false	77	technical_reference
chunk-0056	Calibration steps	## Calibration steps Warning If the board is mounted in a non-standard orientation (i.e. arrow is not pointing forward) then please ensure the AHRS_ORIENTATION is properly set before doing the accelerometer calibration. Tip For very large vehicles, this may be done on the bench, after the orientation is set for how ...	common-accelerometer-calibration.html	Calibration steps	1	false	502	technical_reference
chunk-0057	Calibration steps	## Calibration steps Place the vehicle in its level flying attitude and use the Calibrate Level button. Note this Calibrate Level operation can only correct up to a 10 degree difference between the initial calibration and the final position in the vehicle, and only corrects pitch and roll differences, not yaw. Tip F...	common-accelerometer-calibration.html	Calibration steps	1	false	341	technical_reference
chunk-0058	Simple Calibration	## Simple Calibration Sometimes, for very large vehicles, it’s not easy to do the full 3-axis calibration. In this case, the Simple Accel Cal can be done with the vehicle held still and in a level attitude. This only calibrates the main offsets of the accelerometers, not the minor off-axis variations, so it’s not idea...	common-accelerometer-calibration.html	Simple Calibration	1	false	165	technical_reference
chunk-0059	Extended Kalman Filter (EKF)	# Extended Kalman Filter (EKF) An Extended Kalman Filter (EKF) algorithm is used to estimate vehicle position, velocity and angular orientation based on rate gyroscopes, accelerometer, compass, GPS, airspeed and barometric pressure measurements. The advantage of the EKF over the simpler complementary filter algorithms...	common-apm-navigation-extended-kalman-filter-overview.html	Extended Kalman Filter (EKF)	1	false	60	technical_reference
chunk-0060	Extended Kalman Filter (EKF)	Choosing the EKF and number of cores Affinity and Lane Switching GPS / Non-GPS Transitions Commonly modified parameters EKF3 Fallback to DCM EKF Affinity & Lane Switching EKF Sources and Selection Ethernet/Network Setup Network Capture Flight Time Recorder Flight Options Fly-By-Wire Low Altitude Limit FPort Setup GeoFe...	common-apm-navigation-extended-kalman-filter-overview.html	Extended Kalman Filter (EKF)	1	false	484	technical_reference
chunk-0061	Extended Kalman Filter (EKF)	If the autopilot has two (or more) IMUs available, two EKF “cores” (i.e. two instances of the EKF) will run in parallel, each using a different IMU. At any one time, only the output from a single EKF core is ever used, that core being the one that reports the best health which is determined by the consistency of its se...	common-apm-navigation-extended-kalman-filter-overview.html	Extended Kalman Filter (EKF)	1	false	133	technical_reference
chunk-0062	Should the EKF2 or EKF3 be used?	## Should the EKF2 or EKF3 be used? ### ¶ In general, we recommend users stick with the EKF3, which is now the default. In addition, 1MB autopilots only have this option due to space limitations. EKF2 can still be used but does not have many of the enhancements of EKF3 such as newer sensor sources including Beacons, Wh...	common-apm-navigation-extended-kalman-filter-overview.html	Should the EKF2 or EKF3 be used?	1	false	445	technical_reference
chunk-0063	Affinity and Lane Switching	## Affinity and Lane Switching EKF3 provides the feature of sensor affinity which allows the EKF cores to also use non-primary instances of sensors, specifically, Airspeed, Barometer, Compass (Magnetometer) and GPS. This allows the vehicle to better manage good quality sensors and be able to switch lanes accordingly t...	common-apm-navigation-extended-kalman-filter-overview.html	Affinity and Lane Switching	1	false	312	technical_reference
chunk-0064	EKF3 Fallback to DCM	## EKF3 Fallback to DCM In ArduPlane, the older filter (DCM) is used as a fallback if the EKF3 stops using GPS (ie does not think that the GPS is providing accurate position and velocity) but the GPS is still reporting a 3D lock. In this case, ArduPlane switches to the DCM filter as its position, velocity, and attitud...	common-apm-navigation-extended-kalman-filter-overview.html	EKF3 Fallback to DCM	1	false	320	technical_reference
chunk-0065	Choosing an Autopilot	# Choosing an Autopilot ArduPilot runs on many different autopilot boards. Selecting the right board depends on the physical constraints of the vehicle, features desired, and the applications that you want to run. Factors to consider are: Sensor Redundancy: ArduPilot supports redundant IMUS, GPS, etc.	common-autopilots.html	Choosing an Autopilot	1	false	60	technical_reference
chunk-0066	Choosing an Autopilot	Selecting the right board depends on the physical constraints of the vehicle, features desired, and the applications that you want to run. Factors to consider are: Sensor Redundancy: ArduPilot supports redundant IMUS, GPS, etc. Many controllers have multiple IMUs integrated on board for applications requiring this lev...	common-autopilots.html	Choosing an Autopilot	1	false	480	technical_reference
chunk-0067	Open Hardware	## Open Hardware AcctonGodwit GA1 ARKV6X DS-10 Pixhawk6 CUAV V5 Plus CUAV V5 Nano CUAV Nora CUAV Pixhawk v6X CUAV Pixhawk v6X V2 CUAV X7/X7Pro/X7+/X7+ Pro CUAV-7-Nano F4BY CubePilot Cube Black CubePilot Cube Orange/+ CubePilot Cube Purple CubePilot Cube Yellow CubePilot Cube Green Holybro Durandal H7 Holybro Pix32 v5 ...	common-autopilots.html	Open Hardware	1	false	621	technical_reference
chunk-0068	Linux Based Autopilots	## Linux Based Autopilots These autopilots use an underlying Linux OS. Linux boards usually have more CPU power and memory many of the other boards listed on this page, but do not support DShot, Bi-Directional DShot, BLHeli ESC passthrough, many of the ArduPilot GPIO based features, and easy upload from the ground sta...	common-autopilots.html	Linux Based Autopilots	1	false	169	technical_reference
chunk-0069	Firmware Limitations	## Firmware Limitations Some boards have features removed in order to fit the firmware into their memory capacity. See the section below: Firmware Limitations Note If a board has a missing feature that is required by the user, building a custom firmware using the ArduPilot Custom Firmware Build Server can be used t...	common-autopilots.html	Firmware Limitations	1	false	270	technical_reference
chunk-0070	Schematics	## Schematics Schematics for some of the “Open Hardware” autopilots can be found here	common-autopilots.html	Schematics	1	false	18	technical_reference
chunk-0071	CAN Bus Setup	# CAN Bus Setup This article shows how to setup CAN bus and what options users have to accomplish the setup suitable for their specific needs. Tip The DroneCAN setup page is here . But the parameters below must be configured correctly in order to use the DroneCAN driver. Tip The DroneCAN setup page is here . But th...	common-canbus-setup-advanced.html	CAN Bus Setup	1	false	105	technical_reference
chunk-0072	Overview	## Overview A Controller Area Network (CAN bus) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other in applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on coppe...	common-canbus-setup-advanced.html	Overview	1	false	293	technical_reference
chunk-0073	Configuration settings	## Configuration settings ### Enabling CAN interfaces Each physical port can be turned off or connected to corresponding driver with parameter CAN_Px_DRIVER , where x is the number of the CAN port. The value of this parameter is the id of driver that will be associated with this port (interface). Each enabled bus/dri...	common-canbus-setup-advanced.html	Configuration settings	1	false	472	technical_reference
chunk-0074	Configuration settings	## Configuration settings Currently there is support for DroneCAN devices, which is numbered 1, and numerous CAN ESCs and other devices. The parameter CAN_Dx_PROTOCOL , where x is the number of driver, should be filled with the number of protocol for this driver. CAN_Dx_PROTOCOL Protocol Type 0 Disabled 1 DroneCA...	common-canbus-setup-advanced.html	Configuration settings	1	false	222	technical_reference
chunk-0075	CAN ESCs	## CAN ESCs Several types of CAN based ESCs are supported: DroneCAN, KDECAN, ToshibaCAN, UAVCAN, and PiccoloCAN. For these ESCs, each type use several parameters for configuration. See the ESC’s individual description page here . Previous	common-canbus-setup-advanced.html	CAN ESCs	1	false	48	technical_reference
chunk-0076	Compass Calibration	# Compass Calibration Note Operation of fixed wing Planes and some Rovers is possible without the use of a compass (See Compass-less Operation ), but utilizing a compass is recommended for all other vehicles unless yaw is provided by some other means ( GPS for Yaw (aka Moving Baseline) or Non-GPS Navigation or Extern...	common-compass-calibration-in-mission-planner.html	Compass Calibration	1	false	205	technical_reference
chunk-0077	Compass Calibration	If necessary, move outdoors in order to get a good 3D gps lock before doing the compass calibration. Note Compass calibration cannot be performed while vehicle is armed. Tip It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” w...	common-compass-calibration-in-mission-planner.html	Compass Calibration	1	false	108	technical_reference
chunk-0078	Calibration first steps	## Calibration first steps Warning Do not calibrate the compasses near any metallic or magnetic field producing object (computers, cell phones, metal desks, power supplies, etc.) or incorrect calibration will occur. Under SETUP\| Mandatory Hardware select Compass . Mission Planner: Compass Calibration ¶ You may wish ...	common-compass-calibration-in-mission-planner.html	Calibration first steps	1	false	492	technical_reference
chunk-0079	Calibration first steps	## Calibration first steps Mission Planner will automatically retry, so continue to rotate the vehicle as instructed above. if a compass is not calibrating, consider moving to a different area away from magnetic disturbances, and remove electronics from your pockets. if, after multiple attempts, the compass has not pa...	common-compass-calibration-in-mission-planner.html	Calibration first steps	1	false	134	technical_reference
chunk-0080	Onboard Calibration using RC Switch	## Onboard Calibration using RC Switch Onboard Calibration can be started using an RC switch instead using the Mission Planner technique above. This allows calibrating without the tangle of the USB cable. Setup an RC channel to start the calibration by setting its RCx_OPTION to be “171”. A high value on the channel wi...	common-compass-calibration-in-mission-planner.html	Onboard Calibration using RC Switch	1	false	293	technical_reference
chunk-0081	Compass Ordering	## Compass Ordering At the top of the page, you can change the priority of the attached compasses, if desired. ### Additional information More information about compass configuration can be found in Advanced Compass Setup . This includes instructions for how to set up additional compasses, automatic setting of offset...	common-compass-calibration-in-mission-planner.html	Compass Ordering	1	false	110	technical_reference
chunk-0082	Connect Mission Planner to AutoPilot	# Connect Mission Planner to AutoPilot This article explains how to connect Mission Planner to an autopilot in order to receive telemetry and control the vehicle. Note There are separate instructions for connecting in order to Load Firmware for existing ArduPilot firmware installations, or for boards without existing...	common-connect-mission-planner-autopilot.html	Connect Mission Planner to AutoPilot	1	false	68	technical_reference
chunk-0083	Setting up the connection	## Setting up the connection To establish a connection you must first choose the communication method/channel you want to use, and then set up the physical hardware and Windows device drivers. You can connect the PC and autopilot using USB cables, Telemetry Radios , Bluetooth , IP connections etc. Note The driver for...	common-connect-mission-planner-autopilot.html	Setting up the connection	1	false	462	technical_reference
chunk-0084	Troubleshooting	## Troubleshooting If Mission Planner is unable to connect: Check that the correct baud rate is used for the selected method (115200 on USB or 57600 on Radio/Telemetry) If attaching via USB, be sure that a few seconds after power up have passed before attempting to connect. If you attempted to connect during the boo...	common-connect-mission-planner-autopilot.html	Troubleshooting	1	false	338	technical_reference
chunk-0085	Troubleshooting Composite Connections	## Troubleshooting Composite Connections Autopilots with F7 or H7 processors and having CAN interfaces use firmware that presents two USB interfaces: One for the normal MAVLink connection, and one for SLCAN serial connections to the CAN interface for configuration and firmware updates.This is called a composite USB de...	common-connect-mission-planner-autopilot.html	Troubleshooting Composite Connections	1	false	472	technical_reference
chunk-0086	Troubleshooting Composite Connections	## Troubleshooting Composite Connections Right click and it will present “Update driver software” as one of the options. Click it. Click the “Browse my computer……” option and then click the “Choose from a list…” option and you will see this screen: Scroll down the top list until “Composite USB” option appears and cli...	common-connect-mission-planner-autopilot.html	Troubleshooting Composite Connections	1	false	281	technical_reference
chunk-0087	Related topics	## Related topics Mission Planner Bluetooth Connectivity	common-connect-mission-planner-autopilot.html	Related topics	1	false	9	technical_reference
chunk-0088	Diagnosing some common problems using Logs	# Diagnosing some common problems using Logs This page show how to diagnose the six most common problems affecting Copter in particular but to some extent Plane and Rover as well.	common-diagnosing-problems-using-logs.html	Diagnosing some common problems using Logs	1	false	41	technical_reference
chunk-0089	Mechanical Failures	## Mechanical Failures Common mechanical failures include a motor or ESC failure ( including ESC sync failures ), the propeller breaking or coming off, etc. These appear in the log as a sudden divergence in the desired roll and pitch vs the vehicle’s actual roll and pitch. This divergence is visible by graphing the AT...	common-diagnosing-problems-using-logs.html	Mechanical Failures	1	false	241	technical_reference
chunk-0090	Vibrations	## Vibrations High vibrations can cause the Copter’s accelerometer based altitude and horizontal position estimates to drift far off from reality which leads to problems with altitude hold (the vehicle may rocket into the sky) or position control in modes like Loiter, PosHold, Auto, etc. As covered on the Measuring Vi...	common-diagnosing-problems-using-logs.html	Vibrations	1	false	192	technical_reference
chunk-0091	Compass interference	## Compass interference Interference from the power distribution board, motors, battery, ESCs and other electrical devices near the autopilot can throw off the compass heading which can lead to circling (aka “toilet bowling”) or even the copter flying off in completely the wrong direction. Graphing the tlog’s mag_fiel...	common-diagnosing-problems-using-logs.html	Compass interference	1	false	442	technical_reference
chunk-0092	GPS glitches	## GPS glitches When in autonomous modes (Loiter, RTL, Auto, etc) position errors from the GPS can cause the vehicle to think that it is suddenly in the wrong place and lead to aggressive flying to correct the perceived error. These “glitches” show up in both the tlogs and dataflash logs as a decrease in the number of...	common-diagnosing-problems-using-logs.html	GPS glitches	1	false	225	technical_reference
chunk-0093	Power Problems (BrownOuts, etc)	## Power Problems (BrownOuts, etc) Power Modules provide a reliable power supply to the autopilot but brown-outs do still occasionally occur. They can normally be recognised by the logs suddenly ending while the vehicle is still in the air (i.e. barometer or EKF altitude is still reporting the vehicle’s altitude is we...	common-diagnosing-problems-using-logs.html	Power Problems (BrownOuts, etc)	1	false	281	technical_reference
chunk-0094	Unexpected ERRORS including Failsafes	## Unexpected ERRORS including Failsafes When unexpected behaviour from the autopilot occurs (especially when the user complains that the copter no longer responded to their input) it is often caused by one of the failsafes being triggered. The easiest way to find these is to look in the dataflash logs and filter the ...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	418	technical_reference
chunk-0095	Unexpected ERRORS including Failsafes	## Unexpected ERRORS including Failsafes Subsys ECode and Description 2 = Radio 0 = Errors Resolved 2 = Late Frame : no updates received from receiver for two seconds 3 = Compass 0 = Errors Resolved 1 = Failed to initialise (probably a hardware issue) 4 = Unhealthy : failed to read from the sensor 5 = Radio Fails...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	665	technical_reference
chunk-0096	Unexpected ERRORS including Failsafes	## Unexpected ERRORS including Failsafes Normally vehicle is disarmed soon after 2 = Loss of control detected. Normally parachute is released soon after 13 = Flip mode 2 = Flip abandoned (not armed, pilot input or timeout) 15 = Parachute 2 = Not Deployed, vehicle too low 3 = Not Deployed, vehicle landed 16 = EKF C...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	420	technical_reference
chunk-0097	Downloading and Analyzing Data Logs in Mission Planner	# Downloading and Analyzing Data Logs in Mission Planner Dataflash logs are stored on the autopilot and can be downloaded after a flight. By default, they are created after you first arm the vehicle. This topic explains how to configure and access Dataflash logs. Depending on the autopilot type and configuration, the ...	common-downloading-and-analyzing-data-logs-in-mission-planner.html	Downloading and Analyzing Data Logs in Mission Planner	1	false	237	technical_reference
chunk-0098	Logging Parameters	## Logging Parameters Some commonly used parameters are: LOG_BACKEND_TYPE : Bitmask for where to save logs to. Common values are “0” to disable logging, “1” (bit 0 set) to log to SD card file, “2”(bit 1 set) to stream over MAVLink and “4”(bit 2 set) to log to board dataflash memory, if equipped. LOG_BITMASK : Bitmask...	common-downloading-and-analyzing-data-logs-in-mission-planner.html	Logging Parameters	1	false	501	technical_reference
chunk-0099	Logging Parameters	## Logging Parameters Note If you suspect that you are missing logging entries due to excessive logging speed, you can check the DSF.Dp log message for the amount of missed entries. Note Logging of the continuously streaming log messages, such as attitude, sensors, etc. can be paused by using the RCx_OPTION auxiliar...	common-downloading-and-analyzing-data-logs-in-mission-planner.html	Logging Parameters	1	false	162	technical_reference

End of preview. Expand in Data Studio

KBMill Brick Retrieval Demos

Portable, residual-honest knowledge bricks turned into retrieval evaluation sets for KBMill — the public mill at kbmill.com. Shelf packages live in kbmill-brick-library.

These are not unbounded wiki dumps or synthetic QA. They come from real KBMill manufacturing: bounded packages with muted residual junk filtered where applicable, craft notes, security report in the ZIP, and published, re-runnable cosine retrieval evidence.

Config	Queries	Corpus docs (eligible)	Source brick
`ardupilot_plane`	20	332	ArduPilot_Plane (ops wiki)
`ardupilot_plane_params`	15	1781	ArduPilot_Plane_Params (dense param tables)
`nasa_skylab`	15	1141	NASA_Skylab_History_Living_Working_Space

Compose, don’t melt: ops vs params are separate packages — COMPOSITION_ArduPilot_Plane.md.

If your local model is up and answers from your docs are still junk

The model is fine. The corpus is not.

A knowledge brick is a residual-honest portable ZIP you keep: shaped corpus, craft_brief.md, and SECURITY_REPORT.md in the remilled gallery ZIP. Known junk is muted off the answer path (listed on the card / brief — not hidden). It is not a chatbot and not a per-page parser. We do not host your files as a library.

Mill: https://kbmill.com — drop the pile. Small $149 / Medium $399 / Hard $999 is craft load, not page count. You pay only if we produce a usable ZIP. After Ready, download within 72 hours, then we purge. Point your existing model at the package.

Questions KBMill answers (corpus fitness, ROM fourth leg, bricks vs melts, what may be quoted): kbmill.com/notes#questions. Machine summary: kbmill.com/llms.txt.

These evals and the kbmill-brick-library shelf are the public proof next to the mill.

Look, don’t trust me: ArduPilot Plane retrieval demo (20 questions). This dataset is the machine twin.

Design intent (the differentiator)

Most public retrieval corpora were built for traditional IR or as general training fuel. They were never optimized as the final working surface for an LLM.

KBMill bricks invert that: the package is shaped so the model can use the knowledge cleanly — bounded scope, residual honesty (muted junk stays off the path), stable chunk identity, clear provenance, and craft notes that tell the system what the brick is and is not for. When the consumer is the LLM itself, those choices compound.

These are not heavily sanitized lab sets, and they are not raw unbounded dumps. They are residual-honest packages of real source material: known junk is muted and visible, bounds are explicit, and the package is shaped so a model can work with what it will actually see outside the lab.

That is why bricks are designed so models spend less capacity fighting noise — retrieval quality and downstream answer fidelity both have a cleaner path. The published ArduPilot and Skylab demos already show the retrieval side of that claim in a re-runnable form (cosine top-3; not chat transcripts or invented answers).

Framing for this dataset:

These are not “just another technical corpus,” and not lab-clean synthetic IR fuel.
They are LLM-native knowledge units — manufactured so the model is the primary user.
Residual honesty + bounded packaging is the practical expression of that design goal (best realistic case after careful packaging; residuals stay visible).

This is the story that should land with people who care about production RAG quality (and the LocalLLaMA / air-gapped crowd) rather than pure leaderboard optics: here is what a knowledge package looks like when it was built for the model that has to live with it.

Why this exists

Most RAG failures are data-preparation failures. These demos let you measure retrieval quality on:

Technical operations documentation (ArduPilot Plane ops facet)
Dense parameter tables (ArduPilot Plane Params)
Hostile OCR / paper-capture historical technical text (NASA Skylab history)

Configs publish top-3 cosine results with chunk IDs, headings, sources, and excerpts so you can verify without trusting marketing claims.

Full write-ups:

Full portable ZIPs (Markdown + chunks + embeddings + cards) live in the kbmill-brick-library.

Dataset layout (BEIR-compatible)

ardupilot_plane/
  corpus.jsonl          # eligible chunks (_id, text, source, heading, page, …)
  queries.jsonl         # _id, text
  qrels/test.tsv        # query-id  corpus-id  score (tab)
  published_hits.json   # original cosine top-3 evidence (scores + excerpts)
nasa_skylab/
  … same layout

qrels: published top-3 hits are treated as relevant (score=1). Expand later with graded judgments if needed.

How to load

from datasets import load_dataset

corpus = load_dataset("CMiller/kbmill-brick-retrieval", "ardupilot_plane", split="corpus")
queries = load_dataset("CMiller/kbmill-brick-retrieval", "ardupilot_plane", split="queries")

# qrels are TSV (not a datasets split by default) — parse locally:
# ardupilot_plane/qrels/test.tsv

From a local checkout of this folder:

from datasets import load_dataset
corpus = load_dataset("json", data_files="ardupilot_plane/corpus.jsonl", split="train")
queries = load_dataset("json", data_files="ardupilot_plane/queries.jsonl", split="train")

See load_vf_brick_retrieval.py in this repo for a cosine re-rank sketch.

Evaluation notes

Embeddings in the original bricks used nomic-embed-text (768-d).
Published hits are pure cosine top-3 — no LLM answers.
Muted / exclude_from_rag chunks are filtered from the default corpus (Skylab has residual mutes; ArduPilot ops brick is clean).
For full reproducibility, download the matching *_portable.zip from the brick library and re-embed with the same model family.

Licensing (composite — read carefully)

This dataset packages excerpts and structure from:

Subset	Upstream material	Packaging
`ardupilot_plane`	ArduPilot wiki / Plane docs (community; check ArduPilot license / wiki terms)	KBMill brick packaging by CMiller56
`ardupilot_plane_params`	ArduPilot Plane parameter / log reference	KBMill brick packaging by CMiller56
`nasa_skylab`	NASA official history (US government work; generally public domain in the US)	OCR residual craft + brick packaging by CMiller56

You are responsible for complying with upstream terms when redistributing full source documents. The qrels, query list, published hit tables, and brick packaging metadata are provided to support residual-honest evaluation and citation of the manufacturing method.

If you need a single SPDX tag for tooling, treat this card’s license: other as intentional: composite upstream + evaluation packaging.

Residual honesty

Unknowns stay visible in brick craft notes; this dataset does not invent flight-critical truth.
OCR stress (Skylab) is a feature for measuring robustness — not hidden.
“Look, don’t trust me”: re-run cosine against the portable brick embeddings.

Citation / credit

Please cite KBMill and the public brick shelf if you use these for papers, leaderboards, or product evals.

Product: KBMill · X @VectorForgePro · GitHub CMiller56
Brick library: https://github.com/CMiller56/kbmill-brick-library

Build

Regenerate from portable ZIPs + demos:

python3 scripts/build_hf_retrieval_dataset.py

Changelog

2026-08-19: Rebuild corpus after Camelot-fix gallery remill (Skylab eligible docs 1099→1141; Plane/Params unchanged). Package claims aligned with ZIP reality (SECURITY_REPORT.md + craft_brief.md; no invented MILL_RECEIPT / residual_board.md on every brick). Catalog/LIBRARY_CARD chunk counts synced to ZIPs.
2026-08-17: Rebuild corpus from remilled gallery ZIPs (wiki-nav strip + false-heading mop + SECURITY_REPORT.md in the brick). Card names KBMill, brick-vs-parse, pay-on-success. Published hits may still quote pre-remill excerpts until the Plane/Params/Skylab eval JSON is re-run.
2026-08-12: Clarify middle position — neither lab-clean nor raw dump; residual-honest real source material.
2026-08-12: Add ardupilot_plane_params config (15q, dense tables) + composition link.
2026-08-12: Baseline metrics + docs/BRICK_SPEC.md snapshot.
2026-08-11: Initial HF packaging from published ArduPilot (20q) and Skylab (15q) retrieval demos.

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