> For the complete documentation index, see [llms.txt](https://docs.theseus.us/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.theseus.us/cyclops/autopilot-integration/ardupilot/ardupilot-parameters.md).

# 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:

<table><thead><tr><th width="365">ArduPilot Parameter</th><th width="356.5">Value</th></tr></thead><tbody><tr><td><code>SERIAL2_PROTOCOL</code></td><td><code>2</code></td></tr><tr><td><code>SERIAL2_BAUD</code></td><td><code>921</code></td></tr></tbody></table>

{% hint style="info" %}
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`
{% endhint %}

### 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.

{% file src="/files/igRBsSfejMFDICQXQ6On" %}

<table><thead><tr><th width="241">ArduPilot Parameter</th><th width="219">Param Value</th><th width="287">Description</th></tr></thead><tbody><tr><td><code>ARSPD_OPTIONS</code></td><td><code>3</code></td><td>Allows airspeed recovery</td></tr><tr><td><code>BRD_RTC_TYPES</code></td><td><code>2</code></td><td>Set time from MAVLink</td></tr><tr><td><code>COMPASS_AUTODEC</code></td><td><code>1</code></td><td>Enable auto calculation of compass declination</td></tr><tr><td><code>COMPASS_LEARN</code></td><td><code>0</code></td><td>Disable auto calculation of compass offsets</td></tr><tr><td><code>EK3_GSF_USE_MASK</code></td><td><code>0</code></td><td>Do not use GPS for yaw alignment</td></tr><tr><td><code>EK3_GPS_CHECK</code></td><td><code>23</code></td><td>Lower GPS quality checks</td></tr><tr><td><code>EK3_MAG_CAL</code></td><td><code>2</code></td><td>Disable mag cal in EK3</td></tr><tr><td><code>EK3_SRC_OPTIONS</code></td><td><code>0</code></td><td>Disable velocity fusion</td></tr><tr><td><code>EK3_SRC1_POSXY</code></td><td><code>3</code></td><td>Set GPS as a horizontal position source for EK3</td></tr><tr><td><code>EK3_SRC1_VELXY</code></td><td><code>0</code></td><td>No horizontal velocity source</td></tr><tr><td><code>EK3_SRC1_VELZ</code></td><td><code>0</code></td><td>No vertical velocity source</td></tr><tr><td><code>EK3_SRC1_POSZ</code></td><td><code>1</code></td><td>(default) Barometer as vertical position source</td></tr><tr><td><code>EK3_SRC1_YAW</code></td><td><code>1</code></td><td>(default) Compass as yaw source</td></tr><tr><td><code>GPS_AUTO_SWITCH</code></td><td><code>0</code></td><td>Disable GPS auto switching</td></tr><tr><td><code>GPS_BLEND_MASK</code></td><td><code>0</code></td><td>Disable GPS blending</td></tr><tr><td><code>GPS2_TYPE</code></td><td><code>14</code></td><td>MAVLink GPS on GPS 2 (Cyclops)</td></tr><tr><td><code>LOG_DISARMED</code></td><td><code>3</code></td><td>Enable .BIN logging while disarmed</td></tr><tr><td><code>LOG_REPLAY</code></td><td><code>1</code></td><td>Enable detailed EK3 logging</td></tr><tr><td><code>SCHED_LOOP_RATE</code></td><td><code>400</code></td><td>Sets rate of main control loop</td></tr></tbody></table>

{% hint style="info" %}
Reach out to the Theseus team if your platform has a conflict with any of the above parameters
{% endhint %}

{% hint style="success" %}
All required ArduPilot parameters are configured on your platform.
{% endhint %}