# 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](/micro-vps/vehicle-integration/flight-controller.md) and configure the **Protocol** to **MAVLink 2** and the **Speed (baud rate)** to **921600**.

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

Restart your autopilot after setting the serial port.

### Changing the default baud rate

Your flight controller may be limited to a baud rate other than 921600. In this case, you will need to change the baud rate your Micro VPS uses. The Micro VPS uses very little bandwidth and should work with most common baud rates. You can edit the baud rate through the [Theseus GCS App](/gcs-software/legacy-software/theseus-gcs-app.md) by going to the flight controller settings panel.

<figure><picture><source srcset="/files/pJVTumJ3X3bmvHt1QqfX" media="(prefers-color-scheme: dark)"><img src="/files/huL8xRvEJxtigaMkJM8Z" alt=""></picture><figcaption></figcaption></figure>

You should see a widget at the top that allows you to configure the baud rate. If the widget is missing, you need to update both the GCS App and the VPS to **Version 1.7.7** or higher. Check out [VPS Firmware Updates](/gcs-software/legacy-software/theseus-gcs-app/feature-list/vps-firmware-updates.md) for more info on updating your system.

This feature only configures the baud rate for the Micro VPS; you need to also configure the baud rate on your flight controller.

## 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 **GPS2\_TYPE to 14**.&#x20;

<figure><img src="/files/4fwB329Llh4ml95KZAfl" 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 %}


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