MAVLINKHUD
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Full Parameter PDF

Overview

The AUTO parameter group configures the behavior of the Auto flight mode, where the vehicle follows a pre-programmed mission (waypoints) uploaded from the Ground Control Station (GCS).

Key Concepts

1. Mission Behavior (AUTO_OPTIONS)

A bitmask that modifies how the vehicle executes missions.

  • Allow Arming: Whether the vehicle can be armed directly into Auto mode.
  • Takeoff behavior: specific behaviors for VTOL takeoff.

2. Vehicle Specifics

  • Rover: AUTO_KICKSTART helps overcome static friction (stiction) by momentarily boosting throttle at the start of motion.
  • Plane: AUTO_FBW_STEER (sometimes aliased) might control steering assist.

Parameter Breakdown

  • AUTO_OPTIONS: Bitmask of options.
  • AUTO_KICKSTART: (Rover) Throttle boost pulse duration/intensity.
  • AUTO_TRIGGER_PIN: Input pin to start the mission.

Integration Guide

  • Planning: Use the "Plan" tab in Mission Planner or QGroundControl to create a mission.
  • Upload: "Write Waypoints" to the flight controller.
  • Execution: Switch to Auto mode. Ensure you have a GPS Lock (Green LED).

Developer Notes

  • Logic: Handled by ModeAuto class in each vehicle directory (ArduCopter/mode_auto.cpp, Rover/mode_auto.cpp).

AUTO_CONFIG

Default 1
Range 0 1

GPS Auto Configuration (AUTO_CONFIG)

Description

Allows ArduPilot to automatically send configuration commands to the GPS module on boot. This ensures the GPS is outputting the correct MAVLink-compatible sentences at the optimal rate.

Tuning & Behavior

  • Default Value: 1 (Enabled)
  • Only disable this if using a specialized GPS module that requires a static, pre-programmed configuration.
View Source

AUTO_KICKSTART

$m/s^2$
Default 0
Range 0 20.0

Auto Kickstart Acceleration (AUTO_KICKSTART)

Description

AUTO_KICKSTART allows you to delay the start of an autonomous mission until the vehicle is physically pushed or launched.

Normally, when you switch to AUTO mode, the vehicle starts its mission immediately. If you set this parameter to a value like 2.0, the vehicle will sit still until it detects an acceleration of 2.0 $m/s^2$ (a firm push). This is useful for starting missions where you want to manually launch the rover or ensuring the motors only start once the vehicle is on its way.

  • 0 (Default): Mission starts immediately upon entering AUTO mode.
  • Value: Acceleration threshold to trigger the start.

Tuning & Behavior

  • Usage: Common in racing rovers or hand-launched small vehicles where a "Push-to-Start" behavior is desired for safety or convenience.
View Source

AUTO_ONLY

Default 0
Range 0 1

Camera Auto Mode Only (AUTO_ONLY)

Description

Restricts camera triggering functionality to autonomous mission modes. This prevents accidental triggers during manual flight or while on the ground in manual modes.

Tuning & Behavior

  • Default Value: 0 (Disabled - Can trigger in any mode)
  • Setting to 1 ensures camera missions only run during the actual mission legs.
View Source

AUTO_OPTIONS

Default 0

Auto mode options (AUTO_OPTIONS)

Description

Configuration bitmask for specific autonomous flight behaviors.

Tuning & Behavior

  • Default Value: 0
  • Bitmask Examples:
    • 0: Allow Arming (in Auto)
    • 1: Allow Takeoff Without Raising Throttle
    • 2: Ignore pilot yaw
    • 7: Allow weathervaning
View Source

AUTO_SWITCH

Default 1
Range 0 4

GPS Auto Switch (AUTO_SWITCH)

Description

Logic for choosing the active GPS sensor when multiple modules are connected. It can prioritize the module with the best "fix" or blend the data from both modules.

Tuning & Behavior

  • Default Value: 1 (Use Best)
  • Values: 0:Disabled, 1:Use Best, 2:Blend, 3:Use Primary, 4:Use Secondary
View Source

AUTO_TRIGGER_PIN

Default -1
Range -1 103

Auto Mode Trigger Pin (AUTO_TRIGGER_PIN)

Description

AUTO_TRIGGER_PIN allows a physical button or external signal to start the autonomous mission.

View Source

AUTO_TRIM

Default 0
Range 0 1

Automatic servo trim (AUTO_TRIM)

Description

Continuously learns and saves the required servo trim offsets while flying in stabilized modes. This compensates for slight physical imbalances in the airframe without requiring manual trim adjustments.

Tuning & Behavior

  • Default Value: 0 (Disabled)
  • Only active in stabilized modes (e.g., FBWA) when the pilot is not providing stick inputs.
View Source
Attitude Control (ATC) Autoland Configuration (AUTOLAND)