Relay function (OUT1_FUNCTION)

Description

This parameter defines the function of the Relay 1 output. Relays are simple On/Off (GPIO) switches used for things like camera triggers, parachutes, or powering lights.

The Mathematics

N/A. Function Mapping.

The Engineer's View

Defined in libraries/AP_Relay/AP_Relay_Params.cpp. Matches the Relay::function enum.

• 0: None
• 1: Relay (General purpose)
• ...

Tuning & Behavior

• Default Value: 0 (None)
• Set to: 1 (Relay) to control via RELAY_PIN.

Enable pullup after altitude wait

Note: This parameter configures instance 32_ENABLE. It functions identically to SERVO_32_ENABLE.

BLHeli 3D Mode Mask (OUT_BLH_3DMASK)

Description

OUT_BLH_3DMASK enables "3D Mode" (reversible throttle) for specific motors.

In standard flight, 0 throttle is stop, 100% is full speed.
In 3D mode, 50% throttle is stop, 100% is full forward, and 0% is full reverse.

Tuning & Behavior

• Default Value: 0 (Disabled).
• Usage: Used for 3D aerobatic quads (flying upside down) or rovers/boats with reversible ESCs.
• Safety: Ensure your props are tight! Reversing direction in flight exerts huge torque on the prop nut.

BLHeli pass-thru auto-enable for multicopter motors

Note: This parameter configures instance BLH_AUTO. It functions identically to SERVO_BLH_AUTO.

BLHeli bitmask of bi-directional dshot channels

Note: This parameter configures instance BLH_BDMASK. It functions identically to SERVO_BLH_BDMASK.

BLHeli debug level

Note: This parameter configures instance BLH_DEBUG. It functions identically to SERVO_BLH_DEBUG.

BLHeli Output Mask (OUT_BLH_MASK)

Description

OUT_BLH_MASK tells the autopilot which motors are "Smart ESCs" (BLHeli_S, BLHeli_32, or AM32).

Enabling these bits allows:

1. DShot Pass-through: Change ESC settings using the BLHeliSuite configurator.
2. Telemetry: Read RPM, Temperature, and Voltage from the ESCs.

• Bit 0 (1): Servo 1
• Bit 1 (2): Servo 2

Tuning & Behavior

• Default Value: 0
• Recommendation: Set this bitmask to match your motor output channels (e.g., 15 for a standard Quad).
• Reboot Required: Yes.

BLHeli Output Type (OUT_BLH_OTYPE)

Description

OUT_BLH_OTYPE selects the "Language" the autopilot uses to talk to your ESCs for telemetry.

• 0: None. No telemetry.
• 1: BLHeli_S / BLHeli_32. Standard DShot telemetry.
• 4: AM32. For AM32 based ESCs.

Tuning & Behavior

• Default Value: 0
• Recommendation: Match your ESC hardware. Most modern ESCs use 1.

Nr. electrical poles

Note: This parameter configures instance BLH_POLES. It functions identically to SERVO_BLH_POLES.

Control port

Note: This parameter configures instance BLH_PORT. It functions identically to SERVO_BLH_PORT.

BLHeli Reversed Mask (OUT_BLH_RVMASK)

Description

OUT_BLH_RVMASK allows you to change motor direction without soldering.

If Motor 1 is spinning clockwise but needs to spin counter-clockwise, you can simply check the box for Bit 0 in this mask. ArduPilot sends a DShot command to the ESC to invert its rotation.

Tuning & Behavior

• Default Value: 0.
• Recommendation: Use this during setup to fix motor directions.
• Note: Only works with DShot-capable ESCs (BLHeli_S, BLHeli_32, AM32).

BLHeli internal interface test

Note: This parameter configures instance BLH_TEST. It functions identically to SERVO_BLH_TEST.

BLHeli protocol timeout

Note: This parameter configures instance BLH_TMOUT. It functions identically to SERVO_BLH_TMOUT.

BLHeli telemetry rate

Note: This parameter configures instance BLH_TRATE. It functions identically to SERVO_BLH_TRATE.

OUT_DSHOT_RATE

Note: This parameter configures instance DSHOT_RATE. It functions identically to SERVO_DSHOT_RATE.

Tiltrotor mask

Note: This parameter configures instance FTW_MASK. It functions identically to SERVO_FTW_MASK.

BLHeli Motor Poles

Note: This parameter configures instance FTW_POLES. It functions identically to SERVO_FTW_POLES.

BLHeli bitmask of reversed channels

Note: This parameter configures instance FTW_RVMASK. It functions identically to SERVO_FTW_RVMASK.

Tiltrotor mask

Note: This parameter configures instance GPIO_MASK. It functions identically to SERVO_GPIO_MASK.

Output Rate (OUT_RATE)

Description

OUT_RATE defines how many times per second the autopilot sends a new PWM signal to your servos.

• 50Hz (Standard): Standard for analog servos.
• 400Hz (High-Speed): Standard for digital servos.

Using a high rate with an analog servo can burn it out!

The Engineer's View

Sets the global default timer period for the PWM peripheral. Note that if you use DShot or certain specific functions (like ESC telemetry), this global rate might be overridden for specific groups of pins sharing a timer.

Tuning & Behavior

• Default Value: 50 Hz.
• Digital Servos: Set to 400 for significantly better flight performance and faster response times.
• Analog Servos: Keep at 50.

Robotis servo position max

Note: This parameter configures instance ROB_POSMAX. It functions identically to SERVO_ROB_POSMAX.

Robotis servo position min

Note: This parameter configures instance ROB_POSMIN. It functions identically to SERVO_ROB_POSMIN.

Maximum Controlled Rate

Note: This parameter configures instance SBUS_RATE. It functions identically to SERVO_SBUS_RATE.

Volz Servo Mask (OUT_VOLZ_MASK)

Note: This parameter is an alias for SERVO_VOLZ_MASK.