ArduPilot Buzzer Status and Beep Codes Reference
1. Principle
The buzzer on the flight controller doesn't just "beep once".
It uses different durations, speeds, and repetition patterns to inform you of what is currently happening.
These sounds can be roughly divided into 4 categories:
- Startup / Confirmation Tones: Power on, arming, disarming, operation successful, operation failed
- Ready / Calibration Tones: Ready to arm, but arming conditions not met, calibrating, calibration complete
- Warning Tones: Low battery, attitude or positioning abnormality, acquisition, throw launch waiting
- Mission / Tuning Tones: Waypoint completed, mission completed, tuning started, save success or failure
First, clarify a premise:
- Ordinary Active Buzzer: Usually produces crisp "beep, beep, beep" sounds, mainly distinguished by rhythm
- Variable Tone Buzzer / Passive Buzzer: May also allow perception of high and low pitch changes
The following audio is for reference of rhythm, not actual aircraft recordings.
2. Equipment Preparation
1) Flight Controller: Any flight controller that supports ArduPilot and has a buzzer interface, such as CoreWing F405 WING V2 / CoreWing F405 WING MINI V2 / CoreWing H743 WING.
2) Buzzer: It is recommended to use an active buzzer. If a passive buzzer is connected, the common phenomenon is only a "clicking" sound or basically no sound.
3) Ground Control Station: Mission Planner.
4) USB Data Cable: For connecting to the flight controller, viewing parameters, or testing the buzzer sound effects.
Buzzer Indicator Sound Descriptions
Each entry below is written in the format: How to listen + What it represents + Audio example.
The English numbering is for easy reference and comparison. For normal use, refer to the Chinese descriptions.
3.1 Power-on, Power-off, and Basic Feedback Alert Sounds
AP_NOTIFY_TONE_STARTUP（Power-on Startup）
- How to listen: A series of short power-on beeps, repeating at first, becoming more frequent at the end.
- What it represents: The flight controller has powered on normally.
AP_NOTIFY_TONE_NO_SDCARD（SD Card Not Detected）
- How to listen: Two short beeps, simpler than the normal power-on sound.
- What it represents: The flight controller has not detected an SD card or storage.
AP_NOTIFY_TONE_QUIET_ARMING_WARNING（Arming Alert）
- How to listen: One distinct long beep.
- What it represents: Arming successful, the aircraft is now in an operational state.
AP_NOTIFY_TONE_QUIET_NEU_FEEDBACK（Normal Confirmation）
- How to listen: One very short "beep".
- What it represents: Normal confirmation, such as successful disarming, calibration started, or mode switch successful.
AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK（Failure Alert）
- How to listen: Two consecutive beeps, sounding like "failure".
- What it represents: Operation failed, such as arming failed, mode switch failed, or calibration failed.
AP_NOTIFY_TONE_QUIET_POS_FEEDBACK（Success/Recovery Alert）
- How to listen: Two consecutive beeps, feeling more upbeat than the failure sound.
- What it represents: Operation successful, or an abnormal condition has been recovered.
AP_NOTIFY_TONE_QUIET_SHUTDOWN（Power-off Alert）
- How to listen: A series of beeps longer than the normal confirmation sound.
- What it represents: The flight controller is powering off or giving a warning before power disconnection.
3.2 Calibration, Ready, and Mode Switch Alert Sounds
AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS（Calibration in Progress）
- How to listen: Repeated short "beep" sounds with pauses in between.
- What it represents: Compass or temperature calibration is in progress.
- Audio description: The audio below demonstrates 8 cycles.
AP_NOTIFY_TONE_QUIET_READY_OR_FINISHED（Ready / Complete）
- How to listen: A series of short, upbeat beeps.
- What it represents: Ready, or an operation has completed successfully.
AP_NOTIFY_TONE_QUIET_NOT_READY_OR_NOT_FINISHED（Not Ready / Incomplete）
- How to listen: Opposite of "Ready", sounding like the condition has worsened.
- What it represents: Previously ready, but now a condition is no longer met.
AP_NOTIFY_TONE_LOUD_READY_OR_FINISHED（Post-Arming Complete Alert）
- How to listen: A series of distinct completion beeps.
- What it represents: A task completed after arming, such as AutoTune or mission completion.
AP_NOTIFY_TONE_LOUD_NEU_FEEDBACK（Post-Arming Neutral Confirmation）
- How to listen: One short confirmation beep.
- What it represents: Operation accepted after arming, such as successful mode switch.
AP_NOTIFY_TONE_LOUD_NEG_FEEDBACK（Post-Arming Failure Alert）
- How to listen: Rapid failure beeps.
- What it represents: Operation failed after arming, such as mode switch failed or AutoTune failed.
AP_NOTIFY_TONE_LOUD_POS_FEEDBACK（Post-Arming Recovery Confirmation）
- How to listen: Two distinct recovery beeps.
- What it represents: Abnormal condition recovered after arming, such as RC or GCS connection restored.
AP_NOTIFY_TONE_LOUD_ATTENTION_NEEDED（Requires Immediate Attention）
- How to listen: Four consecutive short beeps with a strong sense of urgency.
- What it represents: Important situation requiring immediate attention to flight controller or GCS messages.
3.3 Mission, Tuning, and Special Function Alert Sounds
AP_NOTIFY_TONE_LOUD_WP_COMPLETE（Waypoint Complete）
- How to listen: A short followed by a long completion beep, the second tone is more distinct.
- What it represents: Alert sound when completing a waypoint during mission flight.
AP_NOTIFY_TONE_WAITING_FOR_THROW（Waiting for Hand Launch）
- How to listen: Starts low, goes high, then has several pauses, easily distinguishable from normal confirmation sounds.
- What it represents: When in hand launch mode and waiting for you to throw the aircraft, this alert sound will cycle.
- Audio description: The audio below demonstrates 2 cycles.
AP_NOTIFY_TONE_TUNING_START（Tuning Start）
- How to listen: Two very short ascending beeps.
- What it represents: Starting alert for the tuning process.
AP_NOTIFY_TONE_LOUD_1（Tuning Item 1）
- How to listen: 1 short beep.
- What it represents: Currently entering the 1st parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_2（Tuning Item 2）
- How to listen: 2 short beeps.
- What it represents: Currently entering the 2nd parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_3（Tuning Item 3）
- How to listen: 3 short beeps.
- What it represents: Currently entering the 3rd parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_4（Tuning Item 4）
- How to listen: 4 short beeps.
- What it represents: Currently entering the 4th parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_5（Tuning Item 5）
- How to listen: 5 short beeps.
- What it represents: Currently entering the 5th parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_6（Tuning Item 6）
- How to listen: 6 short beeps.
- What it represents: Currently entering the 6th parameter group in the tuning process.
AP_NOTIFY_TONE_LOUD_7（Tuning Item 7）
- How to listen: 7 short beeps.
- What it represents: Currently entering the 7th parameter group in the tuning process.
AP_NOTIFY_TONE_TUNING_SAVE（Tuning Save Success）
- How to listen: Short but rhythmic save success sound.
- What it represents: Current modification saved successfully in the tuning process.
AP_NOTIFY_TONE_TUNING_ERROR（Tuning Save Failure）
- How to listen: Continuous, rapid, distinctly unfriendly error beeps.
- What it represents: Current modification save failed in the tuning process.
3.4 Low Voltage, Loss of Control, and Safety Alert Sounds
AP_NOTIFY_TONE_LOUD_BATTERY_ALERT_CTS（Battery Failsafe Continuous Alert）
- How to listen: Continuous dense high-pitched short beeps with a very tense rhythm.
- What it represents: Continuous alert when the flight controller enters battery failsafe.
- Audio description: The audio below demonstrates 2 cycles.
AP_NOTIFY_TONE_EKF_ALERT（EKF Failsafe Alert）
- How to listen: Also continuous high-pitched alert, but with distinct grouped pauses.
- What it represents: Continuous alert when EKF failsafe is triggered. Compared to battery alert, it has a rhythm more like "several groups with pauses".
- Audio description: The audio below demonstrates 2 cycles.
AP_NOTIFY_TONE_LOUD_VEHICLE_LOST_CTS（Find Aircraft Continuous Alert）
- How to listen: Long, loud single tone that repeats continuously, especially suitable for finding the aircraft.
- What it represents: Alert sound when entering
Lost Vehicle Soundfind aircraft mode. - Audio description: The audio below demonstrates 3 cycles.
AP_NOTIFY_TONE_LEAK_DETECTED（Water Leak/Ingress Alert）
- How to listen: High-pitched short alert with an unusual rhythm, completely different from normal confirmation sounds.
- What it represents: Continuous alert when water leak sensor is triggered, more common on platforms like Submarines.
- Audio description: The audio below demonstrates 3 cycles.
AP_NOTIFY_TONE_LOUD_LAND_WARNING_CTS（Landing Continuous Alert / Reserved Tone）
- How to listen: Alternating high and low continuous alert with a distinct repeating rhythm.
- What it represents: This tone sequence is still retained in the official ArduPilot ToneAlarm table, but in the current mainline
ToneAlarm.cpp, there's no fixed-wing normal operation path that directly triggers it, making it more of a reserved tone sequence. - Audio description: The audio below demonstrates 3 cycles.
4. Mission Planner Buzzer Parameter Settings
This section explains how to find and adjust buzzer-related parameters in Mission Planner.
4.1 Viewing Current Buzzer Parameters
- Connect Mission Planner via USB or telemetry.
- Go to Config/Tuning → Full Parameter List.
- Search for
BRD_BUZZorBUZZER.
Key related parameters:
| Parameter | Description |
|---|---|
BRD_BUZZ_ENABLE | Master buzzer switch. 0=Disabled, 1=Enabled |
BRD_BUZZ_VOLUME | Buzzer volume, range 0-100 (supported by some hardware) |
BUZZER_ARMING_QUIET | Silent arming. 0=Normal, 1=No arming tone |
BUZZER_BATTERY_QUIET | Silent battery warning. 0=Normal, 1=No battery warning tone |
4.2 Testing the Buzzer
Within Mission Planner:
- Go to Initial Setup → Optional Hardware → Buzzer (if supported by hardware).
- Click the corresponding button to test and confirm the buzzer is properly connected and functioning.
You can also test individual tones using the CLI (if firmware supports):
tone_alarm test4.3 Adjusting Volume or Disabling Specific Alerts
- To decrease volume: Modify
BRD_BUZZ_VOLUMEand then Write Parameters. - To disable arming tone: Set
BUZZER_ARMING_QUIETto1. - To disable low battery warning: Set
BUZZER_BATTERY_QUIETto1.
Warning
It is not recommended to disable BRD_BUZZ_ENABLE entirely. Especially safety-related alerts like low battery voltage, EKF failsafe, and loss of control should be kept enabled whenever possible.
5. Common Buzzer Scenarios
5.1 Short Beeps After Power On
This is typically AP_NOTIFY_TONE_STARTUP, indicating the flight controller has powered on normally. If you only hear two short beeps without the complete startup tone, it's likely AP_NOTIFY_TONE_NO_SDCARD, meaning the flight controller did not detect an SD card.
5.2 Single Long Beep After Arming
This is AP_NOTIFY_TONE_QUIET_ARMING_WARNING, indicating successful arming and the aircraft is now in an operational state.
5.3 Continuous High-Pitched Beeps During Flight
Two common scenarios:
- Very密集、almost continuous: Usually
AP_NOTIFY_TONE_LOUD_BATTERY_ALERT_CTS, indicating the battery has entered failsafe mode. - Distinct groups with pauses: Usually
AP_NOTIFY_TONE_EKF_ALERT, indicating EKF failsafe has been triggered.
Both are emergency alerts. Check the flight controller status immediately and prepare for landing.
5.4 Long, Loud Continuous Tone
This is typically AP_NOTIFY_TONE_LOUD_VEHICLE_LOST_CTS, indicating the craft has entered "find me" mode. This sound is very useful for locating the aircraft after a crash.
5.5 Repeated Beeps During Calibration
This is AP_NOTIFY_TONE_QUIET_CALIBRATING_CTS, indicating compass or temperature calibration is in progress. It will stop automatically when calibration is complete.
5.6 No Throttle Response but Buzzer is Beeping
If you're in throw mode and hear a cycling tone that goes from low to high, it means AP_NOTIFY_TONE_WAITING_FOR_THROW is waiting for you to throw the aircraft - this is normal. The motors will automatically start after you throw it.
6. Q&A
Q: Why is my buzzer volume very low, or only making a "clicking" sound?
A: You likely have a passive buzzer connected. Most ArduPilot flight controllers require an active buzzer by default. Passive buzzers commonly produce weak sounds or only clicking sounds.
Q: I only hear two short beeps on startup, not the normal startup tone. Is it broken?
A: This is usually AP_NOTIFY_TONE_NO_SDCARD, indicating the flight controller did not detect an SD card. First, check if the SD card is properly inserted and correctly formatted. This is not a hardware failure.
Q: I heard two consecutive beeps when arming failed. How should I troubleshoot this?
A: This sound is AP_NOTIFY_TONE_QUIET_NEG_FEEDBACK, which only indicates the operation failed. For specific reasons, check the Arming Checks in the ground control station. Common causes include: incomplete calibration, GPS not fixed, throttle not at minimum, mode switch not in correct position, etc.
Q: How can I distinguish between low battery and EKF warning sounds?
A: The low battery warning has a very rapid, almost continuous rhythm; the EKF warning has distinct groups with pauses. Both are serious alerts - when you hear either, prepare for a safe landing as soon as possible.
Q: Can I disable all buzzer alerts?
A: It is not recommended. Especially safety-related alerts like low battery voltage, EKF failsafe, and loss of control should be kept enabled. These sounds are one of your most important sources of flight controller status information when you don't have OSD or telemetry.
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