# ArduPilot Parameters If your ArduPilot software is not set up for position hold, you will need to set up some parameters. Log into BlueOS by connecting to the ROV and browsing to -- this is the default address, if you have changed the ROV's IP address you will need to substitute it. You will see the following screen:

Click the Autopilot Parameters tile. You should land on this page:

Using the search and editing tools, change the parameter listed below to the given values. Don't forget to save the parameters after you change them. Required Changes: * EK3\_ENABLE: Enabled * EK2\_ENABLE: Disabled * AHRS\_EKF\_TYPE: Enable EKF3 * VISO\_TYPE: MAVLink * GPS\_TYPE: AUTO * EK3\_SRC1\_POSXY: ExternalNav * EK3\_SRC1\_VELXY: ExternalNav * EK3\_SRC1\_POSZ: Baro * RNGFND1\_TYPE: MAVLink * RNGFND1\_MAX\_CM: 5000 Suggested Starting PIDs: * PSC\_POSXY\_P 0.6 * PSC\_POSZ\_P 1.0 * PSC\_VELXY\_D 0.2 * PSC\_VELXY\_I 0.02 * PSC\_VELXY\_P 4.0 * PSC\_VELZ\_P 5.0 * ACRO\_YAW\_P 4 * ATC\_RAT\_YAW\_FLTE 5 --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.ceruleansonar.com/c/dvl-75/using-mavlink-and-blueos-for-position-hold-on-a-bluerov2/ardupilot-parameters.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.