> 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/guided-setup-from-gcs/mission-planner.md).

# Mission Planner

This page shows you how to configure your ArduPilot UAV described in [ArduPilot](/micro-vps/autopilot-integration/ardupilot.md) using Mission Planner. To begin, open Mission Planner and connect to your UAV.

## Configuring Serial Ports

{% hint style="warning" %}
We've noticed mavlink connection issues with slower baud rates. If you use a slower baud rate and encounter issues with mavlink connection, consider switching to a higher baud or contact <support@theseus.us>.
{% endhint %}

In Mission Planner, click on "*SETUP*", then "*Mandatory Hardware*", then "*Serial Ports*". Find the serial port that matches the port you used in [Flight Controller](/cyclops/vehicle-integration/flight-controller.md) and configure the **Protocol** to **MAVLink 2** and the **Speed (baud rate)** to **921600**.

We use a default baud of **921600**, but this is configurable and can be changed from Vozilla [System](/gcs-software/legacy-software/vozilla-legacy/system.md#configuring-mavproxy)

<figure><img src="/files/egyo26tIAcEkpDu0qNvo" alt=""><figcaption></figcaption></figure>

Restart your autopilot after setting the serial port.

## Editing ArduPilot Parameters

Navigate to the "*CONFIG*" tab on main menu, then "*Full Parameter List*", then click on the "*Search*" bar in the menu to the right of the screen.

{% hint style="success" %}
Make sure to click "*Write Params*" to the right of the list before exiting the Full Parameter List!
{% endhint %}

Set **GPS\_AUTO\_SWITCH to 0** and **GPS\_BLEND\_MASK to 0**.

<figure><img src="/files/zoRTQ7okCsuCG2hf3Kse" alt=""><figcaption></figcaption></figure>

Set **EK3\_SRC\_OPTIONS to 0**.

<figure><img src="/files/BrkIqWooTq4mJiZBGNo6" alt=""><figcaption></figcaption></figure>

Set **EK3\_MAG\_CAL to 3**.

<figure><img src="/files/fuHJtGdMsX8KG9AIyurt" alt=""><figcaption></figcaption></figure>

Set **BRD\_RTC\_TYPES to 2**.

<figure><img src="/files/qXwW0isiiDalzBrngLSn" alt=""><figcaption></figcaption></figure>

Set **EK3\_GPS\_CHECK to 23**.

<figure><img src="/files/8U2eJYGeHUIZ8EgXj8sV" alt=""><figcaption></figcaption></figure>

Set EK3\_SRC1 param values as shown below.

<figure><img src="/files/6VKt4rarKs1FbQcNoOoy" alt=""><figcaption></figcaption></figure>

Once you have set all your parameters, click the "*Write Params*" button on the right side of the screen before exiting.

{% hint style="success" %}
All parameters have been written to the autopilot from Mission Planner.
{% endhint %}