> 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/cyclops-v2.x.x.md).

# Cyclops v2.x.x

### MAVLink to Cyclops

Set the port protocol to **MAVLink 2** and baud rate to **921600** on the port you connected your Cyclops box to the flight controller.

{% 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

We need configure time synchronization, GPS blending, and EKF sources.

| ArduPilot Parameter | Param Value | Description                           |
| ------------------- | ----------- | ------------------------------------- |
| BRD\_RTC\_TYPES     | 2           | Set time from MAVLink                 |
| GPS2\_TYPE          | 14          | MAVLink GPS on GPS 2                  |
| GPS\_BLEND\_MASK    | 0           | Disable GPS blending                  |
| GPS\_AUTO\_SWITCH   | 0           | Disable GPS autoswitching             |
| EK3\_SRC\_OPTIONS   | 0           | Disable velocity fusion               |
| EK3\_GPS\_CHECK     | 23          | Lower GPS quality checks              |
| EK3\_SRC1\_POSXY    | 3           | Set GPS as pos source on EK3          |
| EK3\_SRC1\_VELXY    | 0           | No horizontal velocity source         |
| EK3\_SRC1\_VELZ     | 0           | No vertical velocity source           |
| EK3\_SRC1\_POSZ     | 1           | (default) Baro as vertical pos source |
| EK3\_SRC1\_YAW      | 1           | (default) Compass as yaw source       |
| EK3\_MAG\_CAL       | 2           | Disable mag cal in EK3                |
| EK3\_GSF\_USE\_MASK | 0           | Do not use GPS for yaw alignment      |