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CMiller
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vf-brick-retrieval

_id stringlengths 10 10	title stringlengths 0 77	text stringlengths 33 5.22k	source stringclasses 56 values	heading stringlengths 0 77	page int64 1 1	muted bool 1 class	token_count int64 9 1.09k	document_type stringclasses 2 values
chunk-0000		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	acro-mode.html		1	false	436	technical_reference
chunk-0001		To use this mode you need to set up ACRO_YAW_RATE (if using yaw rate controller), ACRO_ROLL_RATE and ACRO_PITCH_RATE . These default to 180 degrees/second (and 0, ie no limit, for yaw.However, for AUTOTUNE on yaw axis to work, it must be set to a non-zero value. 90 degrees/second is suggested), and control how responsi...	acro-mode.html		1	false	504	technical_reference
chunk-0002		Performing a loop is just as simple - just start with wings level then pull back on the elevator stick while leaving the aileron alone. The controller will try to hold your roll attitude through the loop. You can stop the loop upside down if you like as part of maneuvers such as Immelman turns or cuban eights. Note tha...	acro-mode.html		1	false	366	technical_reference
chunk-0003	ACRO MODE ATTITUDE LOCKING	## ACRO MODE ATTITUDE LOCKING ### ¶ By enabling the ACRO_LOCKING parameter, whatever attitude (roll and pitch angle) the pilot places the plane in, upon releasing the sticks, the autopilot will not only resist rate changes (caused by trim or turbulence), but also attempt to hold and correct back to that attitude. Note ...	acro-mode.html	ACRO MODE ATTITUDE LOCKING	1	false	382	technical_reference
chunk-0004		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning QuadPlane Setup and Operation Mission Planning If...	airspeed.html		1	false	414	technical_reference
chunk-0005	ARSPD_USE	## ARSPD_USE ### ¶ ARSPD_USE enables airspeed use for automatic throttle modes instead of TRIM_THROTTLE as the target throttle setting (altered by TECS (Total Energy Control System) for Speed and Height Tuning Guide as needed during altitude control) . The autopilot continues to display and log airspeed if set to 0, bu...	airspeed.html	ARSPD_USE	1	false	193	technical_reference
chunk-0006	Airspeed Sensor Type	## Airspeed Sensor Type ### ¶ Airspeed sensors can be either analog or digital. The analog sensors connect to an A/D converter input pin on the autopilot, while digital sensors connect to the autopilot’s external I2C bus using the SDA and SCL external digital I/O pins or via DroneCAN. The type is set by the ARSPD_TYPE ...	airspeed.html	Airspeed Sensor Type	1	false	208	technical_reference
chunk-0007	Autopilot Airspeed Connection	## Autopilot Airspeed Connection ### ¶ A list of digital and DroneCAN airspeed sensors are listed below . ### I2C ### ¶ Connect the airspeed sensor to autopilots’s I2C port (or I2C splitter module). The ARSPD_BUS parameter must be set for the bus used to connect the sensor. Normally this defaults to “1” , and correspon...	airspeed.html	Autopilot Airspeed Connection	1	false	345	technical_reference
chunk-0008	Installing the Pitot Tubes	## Installing the Pitot Tubes ### ¶ When you place the airspeed sensor in your aircraft, use the pitot tube set in the kit (the kit comes with a single tube to measure both static and total pressure). In the case of the EasyStar , you’ll need to push it through the foam in the cockpit so it points straight into the air...	airspeed.html	Installing the Pitot Tubes	1	false	253	technical_reference
chunk-0009	Checking operation	## Checking operation ### ¶ You can check the airspeed reading with Mission Planner or another ground station. Just blow on the pitot tube or press your finger over it and observe the response. In still air oscillation between zero and small values (2-3) is normal. The airspeed varies with the square root of the pressu...	airspeed.html	Checking operation	1	false	418	technical_reference
chunk-0010	Miscalibration Safeguards	## Miscalibration Safeguards ### ¶ In order to help prevent Airspeed sensor use when its been miss-calibrated either during ground static calibration during the power up sequence, or by accidental parameter changes to offset or ratio, three parameters are available. If the ground speed is consistently lower than the re...	airspeed.html	Miscalibration Safeguards	1	false	261	technical_reference
chunk-0011	Failure	## Failure ### ¶ A failing airspeed sensor can lead to the aircraft stalling or over-speeding, this is something that is hard for ArduPilot to detect. Likewise, accidentally miscalibrating the offset during ground initialization can occur if the pitot tube is not covered to prevent wind upsetting the calibration, and c...	airspeed.html	Failure	1	false	356	technical_reference
chunk-0012	Airspeed sensors available from ArduPilot Partners:	## Airspeed sensors available from ArduPilot Partners: ### ¶ ### I2C ### ¶ 4525DO CUAV Holybro Matek 4525DO mRobotics TBS ASP5033 Qiotek ASP5033 DLVR Matek DLVR TBS ### DroneCAN ### ¶ 3DR ASUAV 3DR ASUAV DroneCAN Airspeed/Barometer 6897 Foxtech AEROFOX Airspeed/Compass Amphenol AUAV (static and dynamic press...	airspeed.html	Airspeed sensors available from ArduPilot Partners:	1	false	150	technical_reference
chunk-0013		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	apms-failsafe-function.html		1	false	445	technical_reference
chunk-0014		Optionally, detect loss of telemetry (GCS Failsafe) and take an programmable action, such as switching to return to launch (RTL) mode. Either of the above have two phases: Short Failsafe which occurs a programmable time after loss of RC or telemetry, which allows optionally circling to try to recover the signals, and i...	apms-failsafe-function.html		1	false	269	technical_reference
chunk-0015	RC Failsafe	## RC Failsafe ### ¶ ### Radio Signal Failure ### ¶ If the received signal is lost or the control information corrupted for greater than RC_FS_TIMEOUT (default = 1 sec), or the receiver sets its “failsafe bit” in protocols which have this (like Sbus, FPort, etc.), or RC_OVERRIDES are lost if using a GCS only is being u...	apms-failsafe-function.html	RC Failsafe	1	false	97	technical_reference
chunk-0016	section below will be taken, if the	section below will be taken, if the THR_FAILSAFE parameter is 1. Note by setting RC_OPTIONS bit 2, you can force ArduPilot to ignore the “failsafe” bits in the protocol, and only initiate RC Failsafe due to missing or corrupted control information. ### Throttle Failsafe ### ¶ In addition, if the throttle signal falls ...	apms-failsafe-function.html	section below will be taken, if the	1	false	509	technical_reference
chunk-0017	section below will be taken, if the	This can be done several ways: When you do the RC Calibration setup step, change the trim tab for the throttle channel to adjust its signal 40-50us above THR_FS_VALUE at low throttle stick. This will be the normal operating position. Lowering the trim tab and setting the THR_FS_VALUE to that value allows initiating a ...	apms-failsafe-function.html	section below will be taken, if the	1	false	484	technical_reference
chunk-0018	section below will be taken, if the	See FS_LONG_ACTN parameter below for how each mode responds to the selected action value. If the RC Failsafe condition is later exited, a message will be displayed that the Long Failsafe is cleared, but the flight mode will not revert. If it was a Throttle Failsafe that caused the RC Failsafe, and throttle was increase...	apms-failsafe-function.html	section below will be taken, if the	1	false	502	technical_reference
chunk-0019	section below will be taken, if the	If not, recheck that the parameters above have been set correctly. ### Older Receivers ### ¶ Some very old RC receivers cannot be set to send “no pulses” when losing RC signal and simple hold the ROLL/PITCH/YAW RC channels at their last value and set the throttle channel to its minimum PWM value (low throttle). For tho...	apms-failsafe-function.html	section below will be taken, if the	1	false	150	technical_reference
chunk-0020	GCS Failsafe	## GCS Failsafe ### ¶ How it works. When flying while using telemetry on the GCS, the autopilot can be programmed to trigger into failsafe mode if it loses telemetry from its primary GCS (set by MAV_GCS_SYSID ). In the event that the autopilot stops receiving MAVlink (telemetry protocol) heartbeat messages from it, FS_...	apms-failsafe-function.html	GCS Failsafe	1	false	410	technical_reference
chunk-0021	Configuring for valid RC outputs while in RC Failsafe	## Configuring for valid RC outputs while in RC Failsafe ### ¶ Normally, the RC channels are ignored when in RC Failsafe (except the throttle channel, but for failsafe detection exit only). Sometimes it is desirable to allow the preset signal loss values( for receivers capable of this ), to be used in the event of an R...	apms-failsafe-function.html	Configuring for valid RC outputs while in RC Failsafe	1	false	409	technical_reference
chunk-0022	Battery Failsafe	## Battery Failsafe ### ¶ Note This failsafe requires the vehicle have a working Power Module . Note ArduPilot supports up to 10 batteries/power monitors. All the discussion below applies to those optional batteries also. Each can trigger a failsafe and each can have different actions and setup values. In addition, ...	apms-failsafe-function.html	Battery Failsafe	1	false	402	technical_reference
chunk-0023	Battery Failsafe	Default is zero. BATT_FS_CRT_ACT - holds the secondary action to take. A reasonable setup would be to have BATT_FS_LOW_ACT = 1 (RTL) and BATT_FS_CRT_ACT = 2 (Land) ### Advanced Battery Failsafe Settings ### ¶ BATT_FS_VOLTSRC allows configuring whether the raw battery voltage or a sag corrected voltage is used BATT_L...	apms-failsafe-function.html	Battery Failsafe	1	false	246	technical_reference
chunk-0024	Failsafe Parameters and their Meanings	## Failsafe Parameters and their Meanings ### ¶ ### Short failsafe action ( ### FS_SHORT_ACTN ### ) ### ¶ The action to immediately take on a RC failsafe event . No Action is ever taken for Short FailSafe in these modes: CIRCLE RTL TAKEOFF QRTL QLAND LOITER to Alt and QLAND FS_SHORT_ACTN = 3 disables taking acti...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	560	technical_reference
chunk-0025	Failsafe Parameters and their Meanings	No Action is ever taken for Short FailSafe in these modes: CIRCLE RTL TAKEOFF QRTL QLAND LOITER to Alt and QLAND FS_SHORT_ACTN = 3 disables taking action in ANY mode Note if in AutoLanding in AUTO or AUTOLAND, it will always continue to the landing In QuadPlanes, Short FailSafe will force QLAND by default, R...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	538	technical_reference
chunk-0026	Failsafe Parameters and their Meanings	No Action is ever taken for Long FailSafe in these modes: RTL QRTL QLAND LOITER to Alt and QLAND In QuadPlanes, Long FailSafe will force QLAND by default, RTL if bit 20 of Q_OPTIONS is set, or QRTL if bit 5 of Q_OPTIONS is set, if entered from these modes: QSTABILIZE QHOVER QLOITER QACRO QAUTOTUNE Otherwise:...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	409	technical_reference
chunk-0027	Failsafe Parameters and their Meanings	There are three possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLi...	apms-failsafe-function.html	Failsafe Parameters and their Meanings	1	false	234	technical_reference
chunk-0028	Failsafe Diagnosis in Logs or GCS	## Failsafe Diagnosis in Logs or GCS ### ¶ GCSs will often display text indicating the type of failsafe encountered, such as “Failsafe Short event on: type=1/reason=3”. Type and Reason can be determined using the table below: TYPE MEANING 0 None 1 Short Failsafe 2 Long Failsafe 3 GCS Failsafe REASON MEANING 0 Unknown ...	apms-failsafe-function.html	Failsafe Diagnosis in Logs or GCS	1	false	132	technical_reference
chunk-0029		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	arduplane-setup.html		1	false	260	technical_reference
chunk-0030		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning Center of Gravity Starting up and calibrating Pla...	arming-your-plane.html		1	false	433	technical_reference
chunk-0031		When the plane is powered, ALWAYS avoid placing hands in the vicinity of the propeller, even when the throttle is disarmed. If all is not well with the autopilot electronics or software there is always a slight possibility that signal could unintentionally reach the motor. Even though this is unlikely (and made even le...	arming-your-plane.html		1	false	97	technical_reference
chunk-0032	Configuring Arming	## Configuring Arming ### ¶ There are three parameters which control how arming works: ARMING_REQUIRE : this controls whether an arming step is required. The default is 1, meaning that arming is required before takeoff. If set to 0 then arming is not required (the plane starts off armed). ARMING_SKIPCHK : this control...	arming-your-plane.html	Configuring Arming	1	false	273	technical_reference
chunk-0033	Arming Checks	## Arming Checks ### ¶ Before allowing arming the autopilot checks a set of conditions. All conditions must pass for arming to be allowed. If any condition fails then a message explaining what failed is set to the GCS. Any or all of the Pre-Arming Checks can be disabled, but it is not recommended. See the Pre-Arm Safet...	arming-your-plane.html	Arming Checks	1	false	221	technical_reference
chunk-0034	How to Arm	## How to Arm ### ¶ When you are ready to fly you can ask Plane to arm. This can be done in three ways: Rudder Arming . Hold the rudder stick fully to the right and the throttle stick fully down for 3 seconds. Note when rudder arming in QuadPlanes with an autotakeoff, the motors will spin at Q_M_SPIN_ARM and not take...	arming-your-plane.html	How to Arm	1	false	252	technical_reference
chunk-0035	How to Disarm	## How to Disarm ### ¶ If setup, you can use one of the RC_xOPTION switches that includes that function. See switch option “81”, “153, or “154”. Warning This is UNCONDITIONAL . If done while in flight, all motors disarm and you must have throttle at idle before re-arming can occur! It is also possible to disarm using ...	arming-your-plane.html	How to Disarm	1	false	322	technical_reference
chunk-0036	Visual and Audible signals	## Visual and Audible signals ### ¶ ArduPlane will provide visual and audio clues to the arming state if your autopilot has notification LEDs and a buzzer. The clues are: if the autopilot is disarmed, but is ready to arm then the large 3-colour LED will be flashing green if the autopilot is armed and ready to fly the...	arming-your-plane.html	Visual and Audible signals	1	false	178	technical_reference
chunk-0037	Throttle output when disarmed	## Throttle output when disarmed ### ¶ When the plane is disarmed the throttle channel will not respond to pilot input. There are two possible behaviors you can configure: ARMING_REQUIRE = 1. When disarmed the minimum value for the throttle channel (normally RC3_MIN) will be sent to the throttle channel ARMING_REQUIR...	arming-your-plane.html	Throttle output when disarmed	1	false	508	technical_reference
chunk-0038	Throttle output when disarmed	### Rudder arming ### ¶ If you are using right-rudder + zero-throttle to arm and you don’t get a message on your GCS giving a arming failure reason then it may be that your RC calibration is a bit off and the autopilot is not quite seeing zero throttle or isn’t quite seeing full right rudder. ### Reasons for refusing t...	arming-your-plane.html	Throttle output when disarmed	1	false	521	technical_reference
chunk-0039	Throttle output when disarmed	This means the EKF is not healthy. Often this is due to large variations in GPS position and/or velocity reports, even if a solid 3D lock is reported by the GPS and HDOP is low. Be sure your GPS has a clear “view” of the sky with no obstructions. If the error persists then try rebooting your board. 3D accel cal needed ...	arming-your-plane.html	Throttle output when disarmed	1	false	386	technical_reference
chunk-0040		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	auto-mode.html		1	false	450	technical_reference
chunk-0041		The speed during the mission is nominally at AIRSPEED_CRUISE when using an airspeed sensor, or at whatever speed results from TRIM_THROTTLE without an airspeed sensor. Setting THROTTLE_NUDGE = 1 allows the speed to be increased if the throttle stick is above mid-stick up to AIRSPEED_MAX or THR_MAX , when using or not u...	auto-mode.html		1	false	225	technical_reference
chunk-0042	MISSION INTERRUPTION	## MISSION INTERRUPTION ### ¶ Changing out of AUTO Mode leaves whatever mission item being executed in a “suspended” state. Re-entry into AUTO mode later will either resume execution of the mission where it was left or restart the mission depending on the value of the MIS_RESTART parameter. By default, it will resume. ...	auto-mode.html	MISSION INTERRUPTION	1	false	185	technical_reference
chunk-0043		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Introducing Plane Flight Features Automatic Takeoff Automatic Landing Configuring for Automatic Landing Basic Autolanding Improving the ...	automatic-landing.html		1	false	249	technical_reference
chunk-0044	Configuring for Automatic Landing	## Configuring for Automatic Landing ### ¶ To autoland the plane you need to add a NAV_LAND command to the end of your mission indicating the latitude, longitude and altitude of your desired touchdown point and if aborting the autoland is allowed. When the preceding waypoint is reached, it will descend and navigate to ...	automatic-landing.html	Configuring for Automatic Landing	1	false	366	technical_reference
chunk-0045	Basic Autolanding	## Basic Autolanding ### ¶ The phases of an autolanding are: Passing final approach waypoint Navigating to the flare point on a “glide-slope” (ie controlled descent) Flare and touchdown ### Setting Up the Approach Waypoint ### ¶ The autolanding begins after reaching the last navigation waypoint before the NAV_LAND ...	automatic-landing.html	Basic Autolanding	1	false	444	technical_reference
chunk-0046	Basic Autolanding	We will designate the last waypoint before the NAV_LAND as the “final approach” waypoint and the one before it the “pre-approach” waypoint, as shown above. The next figure shows these waypoints incorrectly placed, without sufficient spacing: The above shows a planned approach with the pre-approach waypoint 440m away f...	automatic-landing.html	Basic Autolanding	1	false	501	technical_reference
chunk-0047	Basic Autolanding	This would apply not only to autolandings but any TECS speed controlled flight stage. The key parameters that control automatic landing are: LAND_FLARE_ALT LAND_FLARE_SEC LAND_PITCH_DEG TECS_LAND_SINK TECS_SINK_MAX TECS_SINK_MIN TECS_LAND_THR Note The TECS parameters are related to the glide slope and final fl...	automatic-landing.html	Basic Autolanding	1	false	512	technical_reference
chunk-0048	Basic Autolanding	Whichever is reached first will force the beginning of the flare.The appropriate values for these two parameters depends on how the autopilot is estimating its altitude above the ground. If you are relying solely on a barometer for landing altitude then you will probably need higher values, to account for barometric er...	automatic-landing.html	Basic Autolanding	1	false	500	technical_reference
chunk-0049	Basic Autolanding	Have a look at the TECS tuning page for more information. You should also be aware that many model aircraft can glide for long distances, and it may be that your requested glide slope and airspeed combination just isn’t achievable. ### Controlling the flare ### ¶ The final stage of the landing is called the “flare”. Du...	automatic-landing.html	Basic Autolanding	1	false	454	technical_reference
chunk-0050	Basic Autolanding	If landing too short, decrease the percentage from its default of 50%, conversely, increasing it if landing too long. The transition from the glide-slope sink rate to the flare sink rate is controlled by the TECS_FLARE_HGT parameter and should normally be set below LAND_FLARE_ALT . The start of the flare will occur at ...	automatic-landing.html	Basic Autolanding	1	false	497	technical_reference
chunk-0051	Basic Autolanding	A larger number will cause the pitch demand to change more slowly. This parameter can be used to reduce issues with sudden pitch changes when the flare happens. Note you can use STICK_MIXING to allow manual adjustments during the flare, if needed, while tuning the above parameters. Note For most well tuned vehicles t...	automatic-landing.html	Basic Autolanding	1	false	461	technical_reference
chunk-0052	Improving the landing	## Improving the landing ### ¶ The key to a good landing is the autopilot knowing how far off the ground it is. With the default setup the only sensor available to detect altitude is the barometer. Unfortunately barometers suffer from three main types of error: barometric drift due to changes in atmospheric pressure ...	automatic-landing.html	Improving the landing	1	false	420	technical_reference
chunk-0053		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	autotune-mode.html		1	false	253	technical_reference
chunk-0054		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	circle-mode.html		1	false	377	technical_reference
chunk-0055		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	common-accelerometer-calibration.html		1	false	276	technical_reference
chunk-0056	Calibration steps	## Calibration steps ### ¶ Warning If the board is mounted in a non-standard orientation (i.e. arrow is not pointing forward) then please ensure the AHRS_ORIENTATION is properly set before doing the accelerometer calibration. Tip For very large vehicles, this may be done on the bench, after the orientation is set for...	common-accelerometer-calibration.html	Calibration steps	1	false	505	technical_reference
chunk-0057	Calibration steps	Place the vehicle in its level flying attitude and use the Calibrate Level button. Note this Calibrate Level operation can only correct up to a 10 degree difference between the initial calibration and the final position in the vehicle, and only corrects pitch and roll differences, not yaw. Tip For planes, the “level”...	common-accelerometer-calibration.html	Calibration steps	1	false	337	technical_reference
chunk-0058	Simple Calibration	## Simple Calibration ### ¶ Sometimes, for very large vehicles, it’s not easy to do the full 3-axis calibration. In this case, the Simple Accel Cal can be done with the vehicle held still and in a level attitude. This only calibrates the main offsets of the accelerometers, not the minor off-axis variations, so it’s not...	common-accelerometer-calibration.html	Simple Calibration	1	false	170	technical_reference
chunk-0059		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning QuadPlane Setup and Operation Mission Planning If...	common-apm-navigation-extended-kalman-filter-overview.html		1	false	469	technical_reference
chunk-0060		Choosing the EKF and number of cores Affinity and Lane Switching GPS / Non-GPS Transitions Commonly modified parameters EKF3 Fallback to DCM EKF Affinity & Lane Switching EKF Sources and Selection Ethernet/Network Setup Network Capture Flight Time Recorder Flight Options Fly-By-Wire Low Altitude Limit FPort Setup GeoFe...	common-apm-navigation-extended-kalman-filter-overview.html		1	false	486	technical_reference
chunk-0061		If the autopilot has two (or more) IMUs available, two EKF “cores” (i.e. two instances of the EKF) will run in parallel, each using a different IMU. At any one time, only the output from a single EKF core is ever used, that core being the one that reports the best health which is determined by the consistency of its se...	common-apm-navigation-extended-kalman-filter-overview.html		1	false	133	technical_reference
chunk-0062	Should the EKF2 or EKF3 be used?	## Should the EKF2 or EKF3 be used? ### ¶ In general, we recommend users stick with the EKF3, which is now the default. In addition, 1MB autopilots only have this option due to space limitations. EKF2 can still be used but does not have many of the enhancements of EKF3 such as newer sensor sources including Beacons, Wh...	common-apm-navigation-extended-kalman-filter-overview.html	Should the EKF2 or EKF3 be used?	1	false	448	technical_reference
chunk-0063	Affinity and Lane Switching	## Affinity and Lane Switching ### ¶ EKF3 provides the feature of sensor affinity which allows the EKF cores to also use non-primary instances of sensors, specifically, Airspeed, Barometer, Compass (Magnetometer) and GPS. This allows the vehicle to better manage good quality sensors and be able to switch lanes accordin...	common-apm-navigation-extended-kalman-filter-overview.html	Affinity and Lane Switching	1	false	320	technical_reference
chunk-0064	EKF3 Fallback to DCM	## EKF3 Fallback to DCM ### ¶ In ArduPlane, the older filter (DCM) is used as a fallback if the EKF3 stops using GPS (ie does not think that the GPS is providing accurate position and velocity) but the GPS is still reporting a 3D lock. In this case, ArduPlane switches to the DCM filter as its position, velocity, and at...	common-apm-navigation-extended-kalman-filter-overview.html	EKF3 Fallback to DCM	1	false	322	technical_reference
chunk-0065		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Open Hardware AcctonGodwit GA1 ARKV6X DS-10 Pixhawk6 CUAV V5 Plus CUAV V5 Nano CUAV Nora CUAV Pixhawk v6X CUAV Pix...	common-autopilots.html		1	false	868	technical_reference
chunk-0066		Selecting the right board depends on the physical constraints of the vehicle, features desired, and the applications that you want to run. Factors to consider are: Sensor Redundancy: ArduPilot supports redundant IMUS, GPS, etc. Many controllers have multiple IMUs integrated on board for applications requiring this lev...	common-autopilots.html		1	false	480	technical_reference
chunk-0067	Open Hardware	## Open Hardware ### ¶ AcctonGodwit GA1 ARKV6X DS-10 Pixhawk6 CUAV V5 Plus CUAV V5 Nano CUAV Nora CUAV Pixhawk v6X CUAV Pixhawk v6X V2 CUAV X7/X7Pro/X7+/X7+ Pro CUAV-7-Nano F4BY CubePilot Cube Black CubePilot Cube Orange/+ CubePilot Cube Purple CubePilot Cube Yellow CubePilot Cube Green Holybro Durandal H7 Holybro Pix3...	common-autopilots.html	Open Hardware	1	false	626	technical_reference
chunk-0068	Linux Based Autopilots	## Linux Based Autopilots ### ¶ These autopilots use an underlying Linux OS. Linux boards usually have more CPU power and memory many of the other boards listed on this page, but do not support DShot, Bi-Directional DShot, BLHeli ESC passthrough, many of the ArduPilot GPIO based features, and easy upload from the groun...	common-autopilots.html	Linux Based Autopilots	1	false	172	technical_reference
chunk-0069	Firmware Limitations	## Firmware Limitations ### ¶ Some boards have features removed in order to fit the firmware into their memory capacity. See the section below: Firmware Limitations Note If a board has a missing feature that is required by the user, building a custom firmware using the ArduPilot Custom Firmware Build Server can be u...	common-autopilots.html	Firmware Limitations	1	false	276	technical_reference
chunk-0070	Schematics	## Schematics ### ¶ Schematics for some of the “Open Hardware” autopilots can be found here	common-autopilots.html	Schematics	1	false	21	technical_reference
chunk-0071		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning QuadPlane Setup and Operation Mission Planning If...	common-canbus-setup-advanced.html		1	false	498	technical_reference
chunk-0072	Overview	## Overview ### ¶ A Controller Area Network (CAN bus) is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other in applications without a host computer. It is a message-based protocol, designed originally for multiplex electrical wiring within automobiles to save on ...	common-canbus-setup-advanced.html	Overview	1	false	296	technical_reference
chunk-0073	Configuration settings	## Configuration settings ### ¶ ### Enabling CAN interfaces ### ¶ Each physical port can be turned off or connected to corresponding driver with parameter CAN_Px_DRIVER , where x is the number of the CAN port. The value of this parameter is the id of driver that will be associated with this port (interface). Each enabl...	common-canbus-setup-advanced.html	Configuration settings	1	false	482	technical_reference
chunk-0074	Configuration settings	Currently there is support for DroneCAN devices, which is numbered 1, and numerous CAN ESCs and other devices. The parameter CAN_Dx_PROTOCOL , where x is the number of driver, should be filled with the number of protocol for this driver. CAN_Dx_PROTOCOL Protocol Type 0 Disabled 1 DroneCAN 4 PiccoloCAN 6 EFI_NW...	common-canbus-setup-advanced.html	Configuration settings	1	false	221	technical_reference
chunk-0075	CAN ESCs	## CAN ESCs ### ¶ Several types of CAN based ESCs are supported: DroneCAN, KDECAN, ToshibaCAN, UAVCAN, and PiccoloCAN. For these ESCs, each type use several parameters for configuration. See the ESC’s individual description page here . Previous	common-canbus-setup-advanced.html	CAN ESCs	1	false	50	technical_reference
chunk-0076		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	common-compass-calibration-in-mission-planner.html		1	false	420	technical_reference
chunk-0077		If necessary, move outdoors in order to get a good 3D gps lock before doing the compass calibration. Note Compass calibration cannot be performed while vehicle is armed. Tip It is not necessary to recalibrate the compass when the vehicle is flown at a new location because ArduPilot includes a “world magnetic model” w...	common-compass-calibration-in-mission-planner.html		1	false	108	technical_reference
chunk-0078	Calibration first steps	## Calibration first steps ### ¶ Warning Do not calibrate the compasses near any metallic or magnetic field producing object (computers, cell phones, metal desks, power supplies, etc.) or incorrect calibration will occur. Under SETUP\| Mandatory Hardware select Compass . Mission Planner: Compass Calibration ¶ You may ...	common-compass-calibration-in-mission-planner.html	Calibration first steps	1	false	497	technical_reference
chunk-0079	Calibration first steps	Mission Planner will automatically retry, so continue to rotate the vehicle as instructed above. if a compass is not calibrating, consider moving to a different area away from magnetic disturbances, and remove electronics from your pockets. if, after multiple attempts, the compass has not passed the calibration, Press ...	common-compass-calibration-in-mission-planner.html	Calibration first steps	1	false	129	technical_reference
chunk-0080	Onboard Calibration using RC Switch	## Onboard Calibration using RC Switch ### ¶ Onboard Calibration can be started using an RC switch instead using the Mission Planner technique above. This allows calibrating without the tangle of the USB cable. Setup an RC channel to start the calibration by setting its RCx_OPTION to be “171”. A high value on the chann...	common-compass-calibration-in-mission-planner.html	Onboard Calibration using RC Switch	1	false	298	technical_reference
chunk-0081	Compass Ordering	## Compass Ordering ### ¶ At the top of the page, you can change the priority of the attached compasses, if desired. ### Additional information ### ¶ More information about compass configuration can be found in Advanced Compass Setup . This includes instructions for how to set up additional compasses, automatic setting...	common-compass-calibration-in-mission-planner.html	Compass Ordering	1	false	118	technical_reference
chunk-0082		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup Install Ground Station Software Autopilot System Assembly Loading Firmwar...	common-connect-mission-planner-autopilot.html		1	false	228	technical_reference
chunk-0083	Setting up the connection	## Setting up the connection ### ¶ To establish a connection you must first choose the communication method/channel you want to use, and then set up the physical hardware and Windows device drivers. You can connect the PC and autopilot using USB cables, Telemetry Radios , Bluetooth , IP connections etc. Note The drive...	common-connect-mission-planner-autopilot.html	Setting up the connection	1	false	468	technical_reference
chunk-0084	Troubleshooting	## Troubleshooting ### ¶ If Mission Planner is unable to connect: Check that the correct baud rate is used for the selected method (115200 on USB or 57600 on Radio/Telemetry) If attaching via USB, be sure that a few seconds after power up have passed before attempting to connect. If you attempted to connect during th...	common-connect-mission-planner-autopilot.html	Troubleshooting	1	false	341	technical_reference
chunk-0085	Troubleshooting Composite Connections	## Troubleshooting Composite Connections ### ¶ Autopilots with F7 or H7 processors and having CAN interfaces use firmware that presents two USB interfaces: One for the normal MAVLink connection, and one for SLCAN serial connections to the CAN interface for configuration and firmware updates.This is called a composite U...	common-connect-mission-planner-autopilot.html	Troubleshooting Composite Connections	1	false	474	technical_reference
chunk-0086	Troubleshooting Composite Connections	Right click and it will present “Update driver software” as one of the options. Click it. Click the “Browse my computer……” option and then click the “Choose from a list…” option and you will see this screen: Scroll down the top list until “Composite USB” option appears and click it. Now reconnect your autopilot to the...	common-connect-mission-planner-autopilot.html	Troubleshooting Composite Connections	1	false	276	technical_reference
chunk-0087	Related topics	## Related topics ### ¶ Mission Planner Bluetooth Connectivity	common-connect-mission-planner-autopilot.html	Related topics	1	false	12	technical_reference
chunk-0088		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning QuadPlane Setup and Operation Mission Planning If...	common-diagnosing-problems-using-logs.html		1	false	196	technical_reference
chunk-0089	Mechanical Failures	## Mechanical Failures ### ¶ Common mechanical failures include a motor or ESC failure ( including ESC sync failures ), the propeller breaking or coming off, etc. These appear in the log as a sudden divergence in the desired roll and pitch vs the vehicle’s actual roll and pitch. This divergence is visible by graphing t...	common-diagnosing-problems-using-logs.html	Mechanical Failures	1	false	244	technical_reference
chunk-0090	Vibrations	## Vibrations ### ¶ High vibrations can cause the Copter’s accelerometer based altitude and horizontal position estimates to drift far off from reality which leads to problems with altitude hold (the vehicle may rocket into the sky) or position control in modes like Loiter, PosHold, Auto, etc. As covered on the Measuri...	common-diagnosing-problems-using-logs.html	Vibrations	1	false	194	technical_reference
chunk-0091	Compass interference	## Compass interference ### ¶ Interference from the power distribution board, motors, battery, ESCs and other electrical devices near the autopilot can throw off the compass heading which can lead to circling (aka “toilet bowling”) or even the copter flying off in completely the wrong direction. Graphing the tlog’s mag...	common-diagnosing-problems-using-logs.html	Compass interference	1	false	445	technical_reference
chunk-0092	GPS glitches	## GPS glitches ### ¶ When in autonomous modes (Loiter, RTL, Auto, etc) position errors from the GPS can cause the vehicle to think that it is suddenly in the wrong place and lead to aggressive flying to correct the perceived error. These “glitches” show up in both the tlogs and dataflash logs as a decrease in the numb...	common-diagnosing-problems-using-logs.html	GPS glitches	1	false	228	technical_reference
chunk-0093	Power Problems (BrownOuts, etc)	## Power Problems (BrownOuts, etc) ### ¶ Power Modules provide a reliable power supply to the autopilot but brown-outs do still occasionally occur. They can normally be recognised by the logs suddenly ending while the vehicle is still in the air (i.e. barometer or EKF altitude is still reporting the vehicle’s altitude ...	common-diagnosing-problems-using-logs.html	Power Problems (BrownOuts, etc)	1	false	284	technical_reference
chunk-0094	Unexpected ERRORS including Failsafes	## Unexpected ERRORS including Failsafes ### ¶ When unexpected behaviour from the autopilot occurs (especially when the user complains that the copter no longer responded to their input) it is often caused by one of the failsafes being triggered. The easiest way to find these is to look in the dataflash logs and filter...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	421	technical_reference
chunk-0095	Unexpected ERRORS including Failsafes	Subsys ECode and Description 2 = Radio 0 = Errors Resolved 2 = Late Frame : no updates received from receiver for two seconds 3 = Compass 0 = Errors Resolved 1 = Failed to initialise (probably a hardware issue) 4 = Unhealthy : failed to read from the sensor 5 = Radio Failsafe 0 = Failsafe Resolved 1 = Failsafe Tr...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	658	technical_reference
chunk-0096	Unexpected ERRORS including Failsafes	Normally vehicle is disarmed soon after 2 = Loss of control detected. Normally parachute is released soon after 13 = Flip mode 2 = Flip abandoned (not armed, pilot input or timeout) 15 = Parachute 2 = Not Deployed, vehicle too low 3 = Not Deployed, vehicle landed 16 = EKF Check 0 = Variance cleared (position estima...	common-diagnosing-problems-using-logs.html	Unexpected ERRORS including Failsafes	1	false	413	technical_reference
chunk-0097		Commercial Support Development Team UAS Training Centers Stores About News History License Trademark Acknowledgments Wiki Editing Guide Partners Program Plane Introduction to Plane Choosing an Autopilot Ground Control Stations First Time Setup First Flight and Tuning QuadPlane Setup and Operation Mission Planning If...	common-downloading-and-analyzing-data-logs-in-mission-planner.html		1	false	394	technical_reference
chunk-0098	Logging Parameters	## Logging Parameters ### ¶ Some commonly used parameters are: LOG_BACKEND_TYPE : Bitmask for where to save logs to. Common values are “0” to disable logging, “1” (bit 0 set) to log to SD card file, “2”(bit 1 set) to stream over MAVLink and “4”(bit 2 set) to log to board dataflash memory, if equipped. LOG_BITMASK : Bi...	common-downloading-and-analyzing-data-logs-in-mission-planner.html	Logging Parameters	1	false	504	technical_reference
chunk-0099	Logging Parameters	Note If you suspect that you are missing logging entries due to excessive logging speed, you can check the DSF.Dp log message for the amount of missed entries. Note Logging of the continuously streaming log messages, such as attitude, sensors, etc. can be paused by using the RCx_OPTION auxiliary function “164” on a t...	common-downloading-and-analyzing-data-logs-in-mission-planner.html	Logging Parameters	1	false	158	technical_reference

End of preview. Expand in Data Studio

VectorForge Brick Retrieval Demos

Portable, residual-honest knowledge bricks turned into retrieval evaluation sets.

These are not unbounded wiki dumps or synthetic QA. They come from real VectorForge Pro manufacturing: bounded packages with muted residual junk filtered where applicable, craft notes, and published, re-runnable cosine retrieval evidence.

Config	Queries	Corpus docs (eligible)	Source brick
`ardupilot_plane`	20	335	ArduPilot_Plane (ops wiki)
`ardupilot_plane_params`	15	1781	ArduPilot_Plane_Params (dense param tables)
`nasa_skylab`	15	1099	NASA_Skylab_History_Living_Working_Space

Compose, don’t melt: ops vs params are separate packages — COMPOSITION_ArduPilot_Plane.md.

If your local model is up and answers from your docs are still junk

The model is fine. The corpus is not.

A knowledge brick is a residual-honest portable ZIP you keep: structure, citations, and known junk muted off the answer path (listed, not hidden). It is not a chatbot. We do not host your files.

When the plant is live: drop the files you already have — often the same week. You pay only if we produce. You keep the ZIP. Point your existing local model at that package; do not replace your stack.

No hopper URL yet. These evals and the vf-brick-library are the public proof. The plant link will be added on that README when it vends — we will not invent one.

Look, don’t trust me: ArduPilot Plane retrieval demo (20 questions). This dataset is the machine twin.

Design intent (the differentiator)

Most public retrieval corpora were built for traditional IR or as general training fuel. They were never optimized as the final working surface for an LLM.

VectorForge bricks invert that: the package is shaped so the model can use the knowledge cleanly — bounded scope, residual honesty (muted junk stays off the path), stable chunk identity, clear provenance, and craft notes that tell the system what the brick is and is not for. When the consumer is the LLM itself, those choices compound.

These are not heavily sanitized lab sets, and they are not raw unbounded dumps. They are residual-honest packages of real source material: known junk is muted and visible, bounds are explicit, and the package is shaped so a model can work with what it will actually see outside the lab.

That is why bricks are designed so models spend less capacity fighting noise — retrieval quality and downstream answer fidelity both have a cleaner path. The published ArduPilot and Skylab demos already show the retrieval side of that claim in a re-runnable form (cosine top-3; not chat transcripts or invented answers).

Framing for this dataset:

These are not “just another technical corpus,” and not lab-clean synthetic IR fuel.
They are LLM-native knowledge units — manufactured so the model is the primary user.
Residual honesty + bounded packaging is the practical expression of that design goal (best realistic case after careful packaging; residuals stay visible).

This is the story that should land with people who care about production RAG quality (and the LocalLLaMA / air-gapped crowd) rather than pure leaderboard optics: here is what a knowledge package looks like when it was built for the model that has to live with it.

Brick contract

Retrieval configs here are instances of VectorForge portable bricks. The manufacturing contract — what a brick is / is not, package layout, chunk fields, RAG eligibility (muted / exclude_from_rag), composition — lives in:

docs/BRICK_SPEC.md (HF snapshot of vf-brick-library/BRICK_SPEC.md v1.0)

Multi-brick routing example: docs/COMPOSITION_ArduPilot_Plane.md (ops + params + protocol — compose, don’t melt).

You do not need the spec to load_dataset. You do need it if you want to judge the method, build compatible packages, or understand why mutes and bounds exist.

Why this exists

Most RAG failures are data-preparation failures. These demos let you measure retrieval quality on:

Technical operations documentation (ArduPilot Plane ops facet)
Dense parameter tables (ArduPilot Plane Params — large soft residual by design)
Hostile OCR / paper-capture historical technical text (NASA Skylab history)

Configs publish top-3 cosine results with chunk IDs, headings, sources, and excerpts so you can verify without trusting marketing claims.

Full write-ups:

Full portable ZIPs (Markdown + chunks + embeddings + cards) live in the vf-brick-library.

Dataset layout (BEIR-compatible)

README.md                      # this card
docs/BRICK_SPEC.md             # manufacturing contract (snapshot)
baseline_retrieval_metrics.py  # re-embed + Recall@k / nDCG@k / Hit@k
baseline_results_summary.json  # published baseline numbers
load_vf_brick_retrieval.py
ardupilot_plane/
  corpus.jsonl                 # eligible chunks (_id, text, source, heading, page, …)
  queries.jsonl                # _id, text
  qrels/test.tsv               # query-id  corpus-id  score (tab)
  published_hits.json          # original cosine top-3 evidence (scores + excerpts)
ardupilot_plane_params/
  … same layout (dense params; soft residual by design)
nasa_skylab/
  … same layout

qrels: published top-3 hits are treated as relevant (score=1). Expand later with graded judgments if needed.

How to load

from datasets import load_dataset

corpus = load_dataset("CMiller/vf-brick-retrieval", "ardupilot_plane", split="corpus")
queries = load_dataset("CMiller/vf-brick-retrieval", "ardupilot_plane", split="queries")

# qrels are TSV (not a datasets split by default) — parse locally:
# ardupilot_plane/qrels/test.tsv

From a local checkout of this folder:

from datasets import load_dataset
corpus = load_dataset("json", data_files="ardupilot_plane/corpus.jsonl", split="train")
queries = load_dataset("json", data_files="ardupilot_plane/queries.jsonl", split="train")

See load_vf_brick_retrieval.py in this repo for a cosine re-rank sketch.

Baseline metrics (re-runnable)

Public baseline: re-embed this HF corpus + queries with a named model, cosine top‑k, score against qrels/test.tsv.

Config	Model	k	Recall@k	nDCG@k	Hit@k
`ardupilot_plane`	`nomic-ai/nomic-embed-text-v1.5`	3	0.783	0.832	1.000
`ardupilot_plane_params`	`nomic-ai/nomic-embed-text-v1.5`	3	0.844	0.891	1.000
`nasa_skylab`	`nomic-ai/nomic-embed-text-v1.5`	3	0.378	0.416	0.867

Run: python3 baseline_retrieval_metrics.py (from this dataset repo / local package).
Machine JSON: baseline_results_summary.json
Qrels definition: binary relevance = published cosine top‑3 chunk ids from the original brick embedding run (not multi-annotator graded IR). Re-encoding the HF text can differ from the brick’s stored vectors (especially OCR-heavy Skylab) — lower Skylab numbers are expected stress, not a silent failure.
Hit@k: fraction of queries with ≥1 qrel hit in top‑k. Recall@k: mean over queries of (|top‑k ∩ qrels| / |qrels|).

pip install sentence-transformers scikit-learn numpy
python3 baseline_retrieval_metrics.py --config all --model nomic-ai/nomic-embed-text-v1.5 --top-k 3

Evaluation notes

Original brick embeddings used nomic-embed-text (768-d); the baseline above re-encodes from text on this dataset for a fair public recipe.
Published hits (published_hits.json) are pure cosine top-3 from the brick matrix — no LLM answers.
Muted / exclude_from_rag chunks are filtered from the default corpus (Skylab has residual mutes; ArduPilot ops brick is clean).
For full brick reproducibility (stored embeddings.npy + sidecars), download the matching *_portable.zip from the brick library.

Licensing (composite — read carefully)

This dataset packages excerpts and structure from:

Subset	Upstream material	Packaging
`ardupilot_plane`	ArduPilot wiki / Plane docs (community; check ArduPilot license / wiki terms)	VF brick packaging by CMiller56
`nasa_skylab`	NASA official history (US government work; generally public domain in the US)	OCR residual craft + brick packaging by CMiller56

You are responsible for complying with upstream terms when redistributing full source documents. The qrels, query list, published hit tables, and VF packaging metadata are provided to support residual-honest evaluation and citation of the manufacturing method.

If you need a single SPDX tag for tooling, treat this card’s license: other as intentional: composite upstream + evaluation packaging.

Residual honesty

Unknowns stay visible in brick craft notes; this dataset does not invent flight-critical truth.
OCR stress (Skylab) is a feature for measuring robustness — not hidden.
“Look, don’t trust me”: re-run cosine against the portable brick embeddings.

Citation / credit

Please cite the vf-brick-library and VectorForge Pro if you use these for papers, leaderboards, or product evals.

Builder: CMiller56 / @VectorForgePro
Brick library: https://github.com/CMiller56/vf-brick-library

Build

Regenerate from portable ZIPs + demos:

python3 scripts/build_hf_retrieval_dataset.py

Changelog

2026-08-12: Clarify middle position — neither lab-clean nor raw dump; residual-honest real source material.
2026-08-12: Add ardupilot_plane_params config (15q, dense tables) + composition link; baseline Recall@3 0.844.
2026-08-12: Baseline metrics — baseline_retrieval_metrics.py + public Recall@3 / nDCG@3 / Hit@3 table (nomic-embed-text-v1.5).
2026-08-12: Add docs/BRICK_SPEC.md (v1.0 snapshot) + brick contract section on the card.
2026-08-12: Design intent section — LLM-native knowledge units as the differentiator (not just another technical corpus).
2026-08-11: Initial HF packaging from published ArduPilot (20q) and Skylab (15q) retrieval demos.

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