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Overview

The BATT parameter group configures the power monitoring subsystem. This is essential for:

Safety: Triggering a failsafe (RTL/Land) before the battery is exhausted.
Telemetry: Reporting Voltage (V), Current (A), and Consumed Energy (mAh) to the pilot.
Estimation: The autopilot uses voltage levels to scale motor outputs (voltage compensation) for consistent performance as the battery drains.

Key Concepts

1. Monitor Type (`BATT_MONITOR`)

Selects the driver/hardware interface.

3 (Analog Voltage Only): Simple voltage divider.
4 (Analog Voltage & Current): Standard power module (Mauch, Holybro, generic).
7 (SMBus-I2C): Smart batteries (Maxell, Solo, some generic I2C BMS).
8 (DroneCAN): Digital power modules (Zubax, Mauch CAN).

2. Calibration (Analog)

For standard analog sensors (Type = 4), you must tune the scaling factors.

BATT_VOLT_MULT: Scales the 0-3.3V ADC reading to actual battery voltage.
BATT_AMP_PERVLT: Defines how many Amps correspond to 1V on the current pin.

3. Failsafes (`BATT_FS_...`)

ArduPilot supports "Low" and "Critical" battery failsafes.

Triggers: Low Voltage (BATT_LOW_VOLT), Low Capacity (BATT_LOW_MAH).
Actions: Report Only, Land, RTL, SmartRTL, Terminate.

4. Multiple Batteries (`BATT2_`, `BATT3_`...)

ArduPilot supports up to 16 battery monitors. The data can be:

Summed: Total voltage/current reported to GCS.
Individual: Reported separately.
Redundant: Automatic switchover if one fails (rare).

Parameter Breakdown

BATT_MONITOR: Driver selector.
BATT_CAPACITY: Battery pack capacity in mAh (used for % remaining calculation).
BATT_VOLT_PIN / CURR_PIN: Hardware ADC pin assignment.
BATT_ARM_VOLT: Minimum voltage required to arm (prevents taking off with a dead battery).

Integration Guide

Calibrating a Standard Power Module

Connect: Plug in the battery and connect via USB.
Measure: Use a multimeter to read the actual voltage at the XT60 connector.
Adjust: Modify BATT_VOLT_MULT until the GCS voltage matches your multimeter.
Current: Apply a known load (motors spinning) and adjust BATT_AMP_PERVLT to match a wattmeter.

Smart Battery Setup

Set BATT_MONITOR = 7 (SMBus).
Set BATT_I2C_BUS to the correct bus (usually 0 or 1).
Reboot.

Developer Notes

Library: libraries/AP_BattMonitor
Singleton: AP_BattMonitor::get_singleton()
Scaling: Voltage compensation logic is handled in AP_Motors.

BATT2_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT2_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT2_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT2_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT2_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT2_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT2_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT2_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT2_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT2_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT2_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT2_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT2_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT2_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT2_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT2_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT2_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT2_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT2_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT2_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT2_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT2_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT2_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT2_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT2_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT2_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT3_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT3_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT3_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT3_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT3_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT3_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT3_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT3_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT3_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT3_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT3_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT3_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT3_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT3_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT3_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT3_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT3_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT3_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT3_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT3_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT3_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT3_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT3_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT3_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT3_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT3_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT4_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT4_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT4_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT4_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT4_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT4_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT4_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT4_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT4_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT4_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT4_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT4_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT4_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT4_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT4_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT4_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT4_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT4_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT4_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT4_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT4_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT4_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT4_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT4_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT4_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT4_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT5_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT5_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT5_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT5_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT5_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT5_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT5_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT5_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT5_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT5_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT5_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT5_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT5_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT5_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT5_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT5_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT5_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT5_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT5_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT5_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT5_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT5_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT5_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT5_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT5_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT5_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT6_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT6_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT6_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT6_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT6_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT6_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT6_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT6_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT6_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT6_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT6_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT6_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT6_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT6_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT6_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT6_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT6_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT6_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT6_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT6_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT6_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT6_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT6_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT6_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT6_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT6_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT7_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT7_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT7_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT7_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT7_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT7_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT7_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT7_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT7_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT7_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT7_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT7_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT7_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT7_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT7_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT7_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT7_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT7_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT7_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT7_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT7_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT7_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT7_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT7_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT7_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT7_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT8_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT8_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT8_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT8_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT8_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT8_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT8_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT8_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT8_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT8_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT8_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT8_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT8_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT8_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT8_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT8_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT8_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT8_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT8_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT8_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT8_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT8_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT8_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT8_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT8_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT8_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT9_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATT9_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATT9_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATT9_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATT9_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATT9_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATT9_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATT9_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATT9_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATT9_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATT9_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATT9_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATT9_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATT9_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATT9_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATT9_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATT9_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATT9_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATT9_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATT9_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATT9_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATT9_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATT9_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATT9_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATT9_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATT9_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTA_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTA_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTA_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTA_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTA_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTA_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTA_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTA_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTA_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTA_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTA_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTA_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTA_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTA_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTA_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTA_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTA_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTA_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTA_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTA_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTA_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTA_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTA_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTA_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTA_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTA_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTB_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTB_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTB_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTB_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTB_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTB_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTB_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTB_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTB_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTB_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTB_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTB_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTB_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTB_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTB_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTB_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTB_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTB_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTB_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTB_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTB_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTB_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTB_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTB_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTB_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTB_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTC_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTC_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTC_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTC_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTC_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTC_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTC_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTC_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTC_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTC_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTC_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTC_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTC_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTC_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTC_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTC_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTC_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTC_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTC_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTC_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTC_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTC_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTC_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTC_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTC_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTC_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTD_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTD_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTD_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTD_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTD_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTD_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTD_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTD_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTD_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTD_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTD_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTD_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTD_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTD_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTD_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTD_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTD_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTD_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTD_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTD_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTD_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTD_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTD_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTD_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTD_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTD_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTE_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTE_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTE_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTE_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTE_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTE_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTE_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTE_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTE_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTE_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTE_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTE_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTE_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTE_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTE_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTE_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTE_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTE_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTE_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTE_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTE_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTE_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTE_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTE_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTE_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTE_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTF_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTF_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTF_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTF_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTF_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTF_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTF_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTF_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTF_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTF_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTF_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTF_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTF_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTF_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTF_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTF_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTF_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTF_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTF_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTF_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTF_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTF_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTF_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTF_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTF_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTF_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATTG_AMP_OFFSET

AMP offset V

Default AP_BATT_CURR_AMP_OFFSET_DEFAULT

Range null

AMP offset

Note: This parameter functions identically to BATT_AMP_OFFSET.

BATTG_AMP_PERVLT

Amps per volt A/V

Default AP_BATT_CURR_AMP_PERVOLT_DEFAULT

Range null

Amps per volt

Note: This parameter functions identically to BATT_AMP_PERVLT.

BATTG_ARM_MAH

Required arming remaining capacity mAh

Default 0

Range null

Required arming remaining capacity

Note: This parameter functions identically to BATT_ARM_MAH.

BATTG_ARM_VOLT

Required arming voltage V

Default 0

Range null

Required arming voltage

Note: This parameter functions identically to BATT_ARM_VOLT.

BATTG_CAPACITY

Battery capacity mAh

Default AP_BATT_MONITOR_BATTERY_CAPACITY

Range null

Battery capacity

Note: This parameter functions identically to BATT_CAPACITY.

BATTG_CRT_MAH

Battery critical capacity mAh

Default 0

Range null

Battery critical capacity

Note: This parameter functions identically to BATT_CRT_MAH.

BATTG_CRT_VOLT

Critical battery voltage V

Default 0

Range null

Critical battery voltage

Note: This parameter functions identically to BATT_CRT_VOLT.

BATTG_CURR_MULT

Scales reported power monitor current

Default 1.0

Range .1 10

Scales reported power monitor current

Note: This parameter functions identically to BATT_CURR_MULT.

BATTG_CURR_PIN

Battery Current sensing pin

Default AP_BATT_CURR_PIN

Range null

Battery Current sensing pin

Note: This parameter functions identically to BATT_CURR_PIN.

BATTG_ESC_INDEX

ESC Telemetry Index to write to

Default 0

Range 0 10

ESC Telemetry Index to write to

Note: This parameter functions identically to BATT_ESC_INDEX.

BATTG_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range null

Critical battery failsafe action

Note: This parameter functions identically to BATT_FS_CRT_ACT.

BATTG_FS_LOW_ACT

Low battery failsafe action

Default 0

Range null

Low battery failsafe action

Note: This parameter functions identically to BATT_FS_LOW_ACT.

BATTG_FS_VOLTSRC

Failsafe voltage source

Default BattMonitor_LowVoltageSource_Raw

Range null

Failsafe voltage source

Note: This parameter functions identically to BATT_FS_VOLTSRC.

BATTG_I2C_ADDR

Battery monitor I2C address

Default AP_BATTMONITOR_SMBUS_I2C_ADDR

Range 0 127

Battery monitor I2C address

Note: This parameter functions identically to BATT_I2C_ADDR.

BATTG_I2C_BUS

Battery monitor I2C bus number

Default 0

Range 0 3

Battery monitor I2C bus number

Note: This parameter functions identically to BATT_I2C_BUS.

BATTG_LOW_MAH

Low battery capacity mAh

Default 0

Range null

Low battery capacity

Note: This parameter functions identically to BATT_LOW_MAH.

BATTG_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout

Note: This parameter functions identically to BATT_LOW_TIMER.

BATTG_LOW_VOLT

Low battery voltage V

Default DEFAULT_LOW_BATTERY_VOLTAGE

Range null

Low battery voltage

Note: This parameter functions identically to BATT_LOW_VOLT.

BATTG_MONITOR

Battery monitoring

Default int8_t(AP_BattMonitor::Type::NONE

Range null

Battery monitoring

Note: This parameter functions identically to BATT_MONITOR.

BATTG_OPTIONS

Battery monitor options

Default 0

Range null

Battery monitor options

Note: This parameter functions identically to BATT_OPTIONS.

BATTG_SERIAL_NUM

Battery serial number

Default AP_BATT_SERIAL_NUMBER_DEFAULT

Range null

Battery serial number

Note: This parameter functions identically to BATT_SERIAL_NUM.

BATTG_SUM_MASK

Battery Sum mask

Default 0

Range null

Battery Sum mask

Note: This parameter functions identically to BATT_SUM_MASK.

BATTG_VLT_OFFSET

Voltage offset V

Default 0

Range null

Voltage offset

Note: This parameter functions identically to BATT_VLT_OFFSET.

BATTG_VOLT_MULT

Voltage Multiplier

Default AP_BATT_VOLTDIVIDER_DEFAULT

Range null

Voltage Multiplier

Note: This parameter functions identically to BATT_VOLT_MULT.

BATTG_VOLT_PIN

Battery Voltage sensing pin

Default AP_BATT_VOLT_PIN

Range null

Battery Voltage sensing pin

Note: This parameter functions identically to BATT_VOLT_PIN.

BATTG_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Range null

Maximum allowed power (Watts)

Note: This parameter functions identically to BATT_WATT_MAX.

BATT_AMP_OFFSET

AMP offset V

Default 0

AMP offset (BATT_AMP_OFFSET)

Description

The voltage reported by the current sensor when zero current is flowing. This value is subtracted from the reading before scaling to ensure accuracy at low loads.

BATT_AMP_PERVLT

Amps per volt A/V

Default 17.0

Amps per volt (BATT_AMP_PERVLT)

Description

Scaling factor for the current ADC reading. It defines the relationship between the voltage output of the current sensor and the actual amperage flowing through it.

BATT_ARM_MAH

Required arming remaining capacity mAh

Default 0

Required arming remaining capacity (BATT_ARM_MAH)

Description

A pre-arm safety check. The vehicle will refuse to arm if the calculated remaining capacity is below this value.

Tuning & Behavior

Default Value: 0 (Disabled)
Note: Rebooting usually resets this estimate for non-smart batteries.

BATT_ARM_VOLT

Required arming voltage V

Default 0

Required arming voltage (BATT_ARM_VOLT)

Description

A pre-arm safety check. The vehicle will refuse to arm if the battery voltage is below this value.

Tuning & Behavior

Default Value: 0 (Disabled)
Prevents starting a flight with a partially discharged battery.

BATT_BAL_CELL1_PIN

Battery Balance Cell 1 Pin

Default -1

Range -1 127

Battery Balance Cell 1 Pin (BATT_BAL_CELL1_PIN)

Description

BATT_BAL_CELL1_PIN is used by specialized battery monitoring hardware to track the voltage of individual cells in a LiPo pack.

Instead of just seeing the "Total" voltage of the battery, this parameter (and the pins that follow it) allows the autopilot to monitor each cell. This is critical for detecting a single bad cell that might be failing even if the total voltage looks acceptable.

Tuning & Behavior

Hardware: This requires a dedicated "Cell Balancer" circuit or a custom wiring harness connected to several analog pins on the flight controller.
Sequential Logic: You only define the pin for Cell 1. The software automatically assumes that Cell 2 is on the next physical pin, Cell 3 on the next, and so on.

BATT_BAL_ID

Battery Balancer DroneCAN ID

Default 0

Range 0 127

Battery Balancer DroneCAN ID (BATT_BAL_ID)

Description

BATT_BAL_ID identifies the battery balancer unit on the DroneCAN bus.

BATT_BAL_NUM_CELLS

Battery Balancer Cell Count Cells

Default 0

Range 0 16

Battery Balancer Cell Count (BATT_BAL_NUM_CELLS)

Description

BATT_BAL_NUM_CELLS defines the configuration of your battery pack for the internal balancing system.

This is only used if you have specialized hardware (like a dedicated balancer board) that allows the flight controller to monitor or equalize individual cell voltages.

Default: 0.
Usage: Set to the number of cells in series (e.g. 4 for 4S, 6 for 6S).

BATT_BAL_RATE

Battery Balancer Update Rate Hz

Default 10

Range 1 50

Battery Balancer Update Rate (BATT_BAL_RATE)

Description

BATT_BAL_RATE defines how often individual cell voltages are sampled and reported over the communication bus.

A higher rate provides more immediate detection of an individual cell failing or sagging under load, which is critical for high-performance lithium battery management.

BATT_CAPACITY

Battery capacity mAh

Default 3300

Battery capacity (BATT_CAPACITY)

Description

Defines the total usable capacity of the battery pack. This is used to calculate the "Battery Remaining" percentage and trigger capacity-based failsafes.

Tuning & Behavior

Default Value: 3300 mAh
Set this to the value printed on your battery label, or slightly lower (e.g., 90%) for a safety margin.

BATT_CHANNEL

Battery Channel (Invalid/Legacy)

Default 0

Range 0 16

Battery Channel (BATT_CHANNEL)

Description

This parameter is not found as BATT_CHANNEL in the main codebase. It appears to be a miscategorized RSSI parameter.

BATT_CRT_MAH

Battery critical capacity mAh

Default 0

Battery critical capacity (BATT_CRT_MAH)

Description

The emergency capacity threshold for the "Battery Critical" failsafe. Triggers BATT_FS_CRT_ACT when the remaining mAh drops below this value.

Tuning & Behavior

Default Value: 0 (Disabled)
Typically set to 10% of the total BATT_CAPACITY.

BATT_CRT_VOLT

Critical battery voltage V

Default 0

Critical battery voltage (BATT_CRT_VOLT)

Description

The emergency voltage threshold for the "Battery Critical" failsafe. Triggers BATT_FS_CRT_ACT immediately when the voltage stays below this level for BATT_LOW_TIMER.

Tuning & Behavior

Default Value: 0 (Disabled)
Typically set lower than BATT_LOW_VOLT (e.g., 3.3V/cell).

BATT_CURR_MULT

Current Multiplier (Invalid/Legacy)

Default 1.0

Current Multiplier (BATT_CURR_MULT)

Description

This parameter is not found as BATT_CURR_MULT in the main codebase.

BATT_CURR_PIN

Battery Current sensing pin

Default -1

Battery Current sensing pin (BATT_CURR_PIN)

Description

Specifies the hardware analog-to-digital (ADC) pin connected to the current sensor on the power module.

BATT_ESC_INDEX

ESC Telemetry Index

Default 0

Range 0 10

ESC Telemetry Index (BATT_ESC_INDEX)

Description

Links the battery monitor instance to a specific ESC telemetry channel. This allows the FC to log battery data alongside individual ESC metrics.

BATT_ESC_MASK

ESC Mask (Invalid/Legacy)

Default 0

ESC Mask (BATT_ESC_MASK)

Description

This parameter is not found as BATT_ESC_MASK in the main codebase.

BATT_FL_FF

Fuel Level First Order Coefficient

Default 1.0

Fuel Level First Order Coefficient (BATT_FL_FF)

Description

Part of a polynomial fit used to linearize non-linear fuel level sensors (e.g., irregularly shaped tanks).

BATT_FL_FLTR

Fuel Level Filter Frequency Hz

Default 0.3

Fuel Level Filter Frequency (BATT_FL_FLTR)

Description

Low-pass filter frequency for smoothing fuel level readings, preventing spikes caused by sloshing.

BATT_FL_FS

Fuel Level Second Order Coefficient

Default 0.0

Fuel Level Second Order Coefficient (BATT_FL_FS)

Description

Polynomial coefficient for fuel level linearization.

BATT_FL_FT

Fuel Level Third Order Coefficient

Default 0.0

Fuel Level Third Order Coefficient (BATT_FL_FT)

Description

Polynomial coefficient for fuel level linearization.

BATT_FL_OFF

Fuel Level Offset

Default 0.0

Fuel Level Offset (BATT_FL_OFF)

Description

Linear offset for the fuel level calculation.

BATT_FL_PIN

Fuel Level Pin

Default -1

Fuel Level Pin (BATT_FL_PIN)

Description

Specifies the hardware pin connected to the fuel level sensor.

BATT_FL_VLT_MIN

Fuel Level Empty Voltage V

Default 0.5

Fuel Level Empty Voltage (BATT_FL_VLT_MIN)

Description

Calibration point representing the sensor voltage when the fuel tank is empty.

BATT_FL_V_MULT

Fuel Level Voltage Multiplier

Default 0.5

Fuel Level Voltage Multiplier (BATT_FL_V_MULT)

Description

Scaling factor for the fuel level sensor's analog voltage output.

BATT_FS_CRT_ACT

Critical battery failsafe action

Default 0

Range 0 7

Critical battery failsafe action (BATT_FS_CRT_ACT)

Description

Specifies the flight behavior when the battery reaches the "Critical" threshold.

Tuning & Behavior

Default Value: 0 (None)
Common Values: 1:RTL, 2:Land, 5:Terminate
Usually set to "Land" to force an immediate landing to save the battery and airframe.

BATT_FS_LOW_ACT

Low battery failsafe action

Default 0

Range 0 7

Low battery failsafe action (BATT_FS_LOW_ACT)

Description

Specifies the flight behavior when the battery reaches the "Low" threshold.

Tuning & Behavior

Default Value: 0 (None)
Common Values: 1:RTL, 2:Land, 3:SmartRTL
Ensure your chosen action is appropriate for your flying environment.

BATT_FS_VOLTSRC

Failsafe voltage source

Default 0

Range 0 1

Failsafe voltage source (BATT_FS_VOLTSRC)

Description

Selects whether the failsafe logic uses the "Raw" measured voltage or the "Sag Compensated" voltage (which accounts for voltage drops under load).

Tuning & Behavior

Default Value: 0 (Raw Voltage)
Values: 0:Raw Voltage, 1:Sag Compensated Voltage

BATT_HIDE_MASK

Battery hide mask

Default 0

Battery hide mask (BATT_HIDE_MASK)

Description

Allows an AP_Periph node to monitor multiple battery inputs internally while only reporting a subset (or a single SUM) to the primary flight controller via CAN.

BATT_I2C_ADDR

Battery monitor I2C address

Default 0

Range 0 127

Battery monitor I2C address (BATT_I2C_ADDR)

Description

The I2C device address of the smart battery. A value of 0 usually triggers auto-detection.

BATT_I2C_BUS

Battery monitor I2C bus

Default 0

Range 0 3

Battery monitor I2C bus (BATT_I2C_BUS)

Description

Specifies the physical I2C bus where the smart battery (SMBus/I2C) is connected.

BATT_LOW_MAH

Low battery capacity mAh

Default 0

Low battery capacity (BATT_LOW_MAH)

Description

The primary capacity threshold for the "Battery Low" failsafe. Triggers BATT_FS_LOW_ACT when the remaining mAh drops below this value.

Tuning & Behavior

Default Value: 0 (Disabled)
Typically set to 20% of the total BATT_CAPACITY.

BATT_LOW_TIMER

Low voltage timeout s

Default 10

Range 0 120

Low voltage timeout (BATT_LOW_TIMER)

Description

Defines how long the battery voltage must remain below the BATT_LOW_VOLT threshold before a failsafe is triggered. This prevents false triggers caused by brief voltage sags during high-throttle maneuvers.

Tuning & Behavior

Default Value: 10 s
Range: 0 to 120 s

BATT_LOW_VOLT

Low battery voltage V

Default 10.5

Low battery voltage (BATT_LOW_VOLT)

Description

The primary voltage threshold for the "Battery Low" failsafe. When the voltage stays below this value for BATT_LOW_TIMER, the action defined in BATT_FS_LOW_ACT is taken.

Tuning & Behavior

Default Value: 10.5 V (Copter), 0.0 V (Plane)
For 3S LiPo, 10.5V (3.5V/cell) is a common safe threshold.

BATT_MAX_AMPS

Maximum current A

Default 90

Maximum current (BATT_MAX_AMPS)

Description

The hardware measurement limit for the current sensor (e.g., for INA2xx or similar sensors).

BATT_MAX_VOLT

Maximum battery voltage (Invalid/Legacy) V

Default 0

Maximum battery voltage (BATT_MAX_VOLT)

Description

This parameter is not found as BATT_MAX_VOLT in the main codebase.

BATT_MONITOR

Battery monitoring

Default 0

Battery monitoring (BATT_MONITOR)

Description

Enables the battery monitoring system and selects the sensor type (Analog, SMBus, DroneCAN, etc.).

Tuning & Behavior

Default Value: 0 (Disabled)
Common Values: 3:Analog Voltage Only, 4:Analog Voltage and Current, 8:DroneCAN, 9:ESC
Requires reboot after changing to initialize the specific driver.

BATT_OPTIONS

Battery monitor options

Default 0

Battery monitor options (BATT_OPTIONS)

Description

Configuration bitmask for advanced battery features like MPPT reporting or special DroneCAN behaviors.

Tuning & Behavior

Default Value: 0
Bitmask:
- Bit 6: Send resistance compensated voltage to GCS
- Bit 8: Battery is for internal autopilot use only
- Bit 9: Sum monitor measures minimum voltage instead of average

BATT_SERIAL_NUM

Battery serial number

Default -1

Battery serial number (BATT_SERIAL_NUM)

Description

Unique serial number or ID assigned to the battery pack. Primarily used for distinguishing between multiple "Smart" or DroneCAN batteries.

BATT_SHUNT

Shunt resistance Ohm

Default 0.0005

Shunt resistance (BATT_SHUNT)

Description

The resistance value of the physical shunt resistor used for current measurement. Critical for accurate amperage reporting on certain sensor types.

BATT_SUM_MASK

Battery Sum Mask

Default 0

Battery Sum Mask (BATT_SUM_MASK)

Description

Defines which battery monitor instances should be mathematically combined (summed) to create a single virtual battery monitor. This is useful for vehicles with multiple independent batteries powering the same rail.

BATT_VLT_OFFSET

Voltage offset V

Default 0

Voltage offset (BATT_VLT_OFFSET)

Description

A static voltage offset subtracted from the ADC reading before the multiplier is applied. Commonly used to account for voltage drops across protective diodes.

BATT_VOLT_MULT

Voltage Multiplier

Default 10.1

Voltage Multiplier (BATT_VOLT_MULT)

Description

Scaling factor for the voltage ADC reading. This value depends on the resistor divider ratio in your power module.

BATT_VOLT_PIN

Battery Voltage sensing pin

Default -1

Battery Voltage sensing pin (BATT_VOLT_PIN)

Description

Specifies the hardware analog-to-digital (ADC) pin connected to the battery voltage divider on the power module.

BATT_WATT_MAX

Maximum allowed power (Watts) W

Default 0

Maximum allowed power (BATT_WATT_MAX)

Description

A power-limiting safety feature for ArduPlane. If the instantaneous power consumption exceeds this threshold, the flight controller will automatically cap the maximum throttle to protect the battery and ESCs.

Tuning & Behavior

Default Value: 0 (Disabled)
Prevents over-discharging low-C rated batteries or overheating the powertrain.

BAROSPEC Parameter Group BATTA Parameter Group