Overview

The COMMON parameter group is a container for parameters that don't fit neatly into a specific library subclass or are shared generically across vehicle types (though often defined in vehicle-specific code).

In this specific documentation set, it largely contains the Flight Mode switch mapping parameters for Rover (and historically other vehicles before they moved to FLTMODE_).

Key Concepts

1. Mode Switch Mapping (MODEx)

ArduPilot allows you to map up to 6 flight modes to a single RC channel (usually Channel 5 or 8) using PWM ranges.

• MODE1: PWM 0-1230.
• MODE2: PWM 1231-1360.
• MODE3: PWM 1361-1490.
• MODE4: PWM 1491-1620.
• MODE5: PWM 1621-1749.
• MODE6: PWM 1750+.

Parameter Breakdown

• MODE1..MODE6: Selects the active mode for that switch position (e.g., MANUAL, STEERING, AUTO).
• DUMMY: A test parameter with no effect.

Integration Guide

• Setup: Use the "Flight Modes" tab in Mission Planner. It automatically sets these parameters based on the dropdown menu selections.

Developer Notes

• Note: Copter uses FLTMODE_x. Plane uses FLTMODE_x. Rover uses MODE_x. This inconsistency is historical.