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Full Parameter PDF

Overview

The INITIAL parameter group (specifically INITIAL_MODE) defines the behavior of the autopilot immediately after boot-up.

Key Concepts

1. Boot-Up Mode

When you power on the vehicle, it must enter a safe and predictable state before the pilot takes control.

  • INITIAL_MODE: (ArduRover) Selects which drive mode is active at startup.
    • Default: Usually 0 (Manual) or 1 (Hold).
    • Safety: Setting this to "Hold" ensures the rover won't move even if the transmitter is sending a non-centered signal at boot.

Parameter Breakdown

  • INITIAL_MODE: Mode ID to enter on boot.

Developer Notes

  • Vehicle: ArduRover.
  • Related: Plane and Copter typically boot into STABILIZE or MANUAL by default and do not have a dedicated parameter for this.

Initial driving mode

INITIAL_MODE: Initial driving mode

Description

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.

Values

Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
8 Dock
9 Circle
10 Auto
11 RTL
12 SmartRTL
15 Guided
  • Default: 0 (Manual)

Description

This parameter determines the vehicle's state immediately after the flight controller boots up.

  • Standard Use: Keep at 0 (Manual) for normal operations where you turn on the rover and then switch modes using your RC transmitter.
  • Autonomous/No-RC Use: Set to 10 (Auto) if you want the rover to immediately begin a mission upon power-up (often used with AUTO_TRIGGER_PIN to require a button press, or AUTO_KICKSTART to require a push before the motor engages).

Source Code

ardupilot/Rover/Parameters.cpp

IMU General Configuration (IMU) Data Injection Configuration (INJECT)