> 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 or -- 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:

BlueOS landing page

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

Autopilot Parameters Landing 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 This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## 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, and the optional `goal` query parameter: ``` GET https://docs.ceruleansonar.com/c/tracker-650/using-mavlink-and-blueos-for-position-hold-on-a-bluerov2/ardupilot-parameters.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. 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.