> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/tracker-650/using-mavlink-and-blueos-for-position-hold-on-a-bluerov2/ardupilot-parameters.md).

# ArduPilot Parameters

To set the parameters automatically, [connect to the Tracker650 via SonarView and hit check parameters](/c/sonarview/ardupilot-vehicle.md).

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 <http://blueos.local>  or <http://192.168.2.2> -- 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:

<figure><img src="/files/d5OydiZPSKsRUiHNu16m" alt=""><figcaption><p>BlueOS landing page</p></figcaption></figure>

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

<figure><img src="/files/GbC97eFpd6CvSAtgCGo1" alt=""><figcaption><p>Autopilot Parameters Landing Page</p></figcaption></figure>

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

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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