MAVLINKHUD
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Full Parameter PDF

Overview

The OPTIONS parameter group is a generic container for bitmask settings that toggle specific features within a library or vehicle.

Because many ArduPilot features are "On/Off" toggles, the developers group them into OPTIONS bitmasks to save space in the parameter table.

Common Options Groups

  • GPS_DRV_OPTIONS: Workarounds for specific GPS chips.
  • FENCE_OPTIONS: Behavior of the geofence (e.g., enable on arming).
  • EK3_SRC_OPTIONS: Sources for EKF3 (e.g., use compass or GPS for yaw).
  • FLIGHT_OPTIONS: Global flight behavior overrides.

Parameter Breakdown

  • OPTIONS: (The specific context depends on the parent folder).
    • Refer to the ArduPilot documentation for the specific meaning of each bit (Bit 0, Bit 1, etc.) for the subsystem you are investigating.

Developer Notes

  • Bitmasking: To enable multiple options, you must add their values together (e.g., to enable Option 1 (value 1) and Option 3 (value 4), set the parameter to 5).

OPTIONS

Bitmask
Default 0
Range 0 3

Winch options (OPTIONS)

Description

This parameter configures advanced behaviors for the Winch library.

The Mathematics

Bitmask.

The Engineer's View

Defined in libraries/AP_Winch/AP_Winch.cpp.

  • Bit 0: Spin Free on Release. If set, the motor is disabled (coasts) when the winch is released, rather than actively driving out.
  • Bit 1: Retry on Jam. If set, the winch will briefly reverse and try again if it detects a jam (current spike or stall).

Tuning & Behavior

  • Default Value: 0
  • Tuning: Enable Bit 1 if your winch mechanism is prone to sticking.
View Source
On/Off Tracker Configuration (ONOFF) Sensor Orientation Configuration (ORIENT)