> For the complete documentation index, see [llms.txt](https://teravolt.gitbook.io/teravolt/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://teravolt.gitbook.io/teravolt/flight-controllers/aerof4/setup-and-configuration/ardupilot.md).

# ArduPilot

<figure><img src="/files/6spuHQaD03BCmtL3GUaU" alt=""><figcaption></figcaption></figure>

* Sensor Calibration: Accelerometer, compass, and radio.
* Flight Modes: Assign modes to your transmitter switches.
* Power Setup: Configure battery monitor for analog voltage/current.
* MAVLink Ports: Assign protocols to UARTs in SERIALx\_PROTOCOL.
* OSD: Enable and customize with Mission Planner.
* Logging: Enable SPI flash logging (LOG\_BACKEND\_TYPE = 3).
* Failsafe & Safety: Configure arming checks, geofence, RTL.