ArduPilot parameters

Serial port params

Set the serial protocol to MAVLink 2 and baud rate to 921600 on the serial port Cyclops is using. For example, if using SERIAL 2:

ArduPilot Parameter	Value
SERIAL2_PROTOCOL	2
SERIAL2_BAUD	921

921600 is the recommended baud rate to use with Cyclops. Run this command on your Cyclops device to verify the configured baud rate: vns-config show

ArduPilot params

Below is a list of ArduPilot parameters that must be configured for proper Cyclops integration. We have included a .param file for quick comparison and validation.

CyclopsInitIal.param

328B

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ArduPilot Parameter	Param Value	Description
ARSPD_OPTIONS	3	Allows airspeed recovery
BRD_RTC_TYPES	2	Set time from MAVLink
COMPASS_AUTODEC	1	Enable auto calculation of compass declination
COMPASS_LEARN	0	Disable auto calculation of compass offsets
EK3_GSF_USE_MASK	0	Do not use GPS for yaw alignment
EK3_GPS_CHECK	23	Lower GPS quality checks
EK3_MAG_CAL	2	Disable mag cal in EK3
EK3_SRC_OPTIONS	0	Disable velocity fusion
EK3_SRC1_POSXY	3	Set GPS as a horizontal position source for EK3
EK3_SRC1_VELXY	0	No horizontal velocity source
EK3_SRC1_VELZ	0	No vertical velocity source
EK3_SRC1_POSZ	1	(default) Barometer as vertical position source
EK3_SRC1_YAW	1	(default) Compass as yaw source
GPS_AUTO_SWITCH	0	Disable GPS auto switching
GPS_BLEND_MASK	0	Disable GPS blending
GPS2_TYPE	14	MAVLink GPS on GPS 2 (Cyclops)
LOG_DISARMED	3	Enable .BIN logging while disarmed
LOG_REPLAY	1	Enable detailed EK3 logging
SCHED_LOOP_RATE	400	Sets rate of main control loop

Reach out to the Theseus team if your platform has a conflict with any of the above parameters

All required ArduPilot parameters are configured on your platform.