<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="APMrover2">
<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
</param>
<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535" user="Advanced">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW</field>
<values>
<value code="0">Disabled</value>
<value code="65535">Default</value>
</values>
</param>
<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode after geofence takeover." user="Advanced">
</param>
<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Telemetry startup delay" name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 30</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel</field>
<values>
<value code="0">None</value>
<value code="1">Steering</value>
<value code="2">Throttle</value>
<value code="4">Pitch</value>
<value code="8">Left Wheel</value>
<value code="16">Right Wheel</value>
<value code="32">Sailboat Heel</value>
</values>
</param>
<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="0">APM TriggerPin0</value>
<value code="1">APM TriggerPin1</value>
<value code="2">APM TriggerPin2</value>
<value code="3">APM TriggerPin3</value>
<value code="4">APM TriggerPin4</value>
<value code="5">APM TriggerPin5</value>
<value code="6">APM TriggerPin6</value>
<value code="7">APM TriggerPin7</value>
<value code="8">APM TriggerPin8</value>
<value code="50">Pixhawk TriggerPin50</value>
<value code="51">Pixhawk TriggerPin51</value>
<value code="52">Pixhawk TriggerPin52</value>
<value code="53">Pixhawk TriggerPin53</value>
<value code="54">Pixhawk TriggerPin54</value>
<value code="55">Pixhawk TriggerPin55</value>
</values>
</param>
<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="Standard">
<field name="Range">0 20</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Pilot input steering type" name="APMrover2:PILOT_STEER_TYPE" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Two Paddles Input</value>
<value code="2">Direction reversed when backing up</value>
<value code="3">Direction unchanged when backing up</value>
</values>
</param>
<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
<values>
<value code="0">Nothing</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Hold</value>
</values>
</param>
<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="The time in seconds that a failsafe condition must persist before the failsafe action is triggered" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">0.5</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Enabled Continue with Mission in Auto</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
<field name="Range">910 1100</field>
<field name="Increment">1</field>
</param>
<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Enabled Continue with Mission in Auto</value>
</values>
</param>
<param humanName="Crash check action" name="APMrover2:FS_CRASH_CHECK" documentation="What to do on a crash event. When enabled the rover will go to hold if a crash is detected." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Hold</value>
<value code="2">HoldAndDisarm</value>
</values>
</param>
<param humanName="EKF Failsafe Action" name="APMrover2:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Hold</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="APMrover2:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
</param>
<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
</param>
<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">Acro</value>
<value code="3">Steering</value>
<value code="4">Hold</value>
<value code="5">Loiter</value>
<value code="6">Follow</value>
<value code="7">Simple</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">SmartRTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
<field name="Range">0.1 10</field>
<field name="Increment">0.01</field>
<field name="Units">gravities</field>
<field name="UnitText">standard acceleration due to gravity</field>
</param>
<param humanName="GCS sysid enforcement" name="APMrover2:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
<values>
<value code="0">NotEnforced</value>
<value code="1">Enforced</value>
</values>
</param>
<param humanName="Turn radius of vehicle" name="APMrover2:TURN_RADIUS" documentation="Turn radius of vehicle in meters while at low speeds.  Lower values produce tighter turns in steering mode" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Acro mode turn rate maximum" name="APMrover2:ACRO_TURN_RATE" documentation="Acro mode turn rate maximum" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Return-to-Launch speed default" name="APMrover2:RTL_SPEED" documentation="Return-to-Launch speed default.  If zero use WP_SPEED or CRUISE_SPEED." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Frame Class" name="APMrover2:FRAME_CLASS" documentation="Frame Class" user="Standard">
<values>
<value code="0">Undefined</value>
<value code="1">Rover</value>
<value code="2">Boat</value>
<value code="3">BalanceBot</value>
</values>
</param>
<param humanName="BalanceBot Maximum Pitch" name="APMrover2:BAL_PITCH_MAX" documentation="Pitch angle in degrees at 100% throttle" user="Standard">
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Crash Angle" name="APMrover2:CRASH_ANGLE" documentation="Pitch/Roll angle limit in degrees for crash check. Zero disables check" user="Standard">
<field name="Range">0 60</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Frame Type" name="APMrover2:FRAME_TYPE" documentation="Frame Type" user="Standard">
<values>
<value code="0">Undefined</value>
<value code="1">Omni3</value>
<value code="2">OmniX</value>
<value code="3">OmniPlus</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Loiter type" name="APMrover2:LOIT_TYPE" documentation="Loiter behaviour when moving to the target point" user="Standard">
<values>
<value code="0">Forward or reverse to target point</value>
<value code="1">Always face bow towards target point</value>
</values>
</param>
<param humanName="Simple_Type" name="APMrover2:SIMPLE_TYPE" documentation="Simple mode types" user="Standard">
<values>
<value code="0">InitialHeading</value>
<value code="1">CardinalDirections</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Loiter radius" name="APMrover2:LOIT_RADIUS" documentation="Vehicle will drift when within this distance of the target position" user="Standard">
<field name="Range">0 20</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Mission done behave" name="APMrover2:MIS_DONE_BEHAVE" documentation="Mode to become after mission done" user="Standard">
<values>
<value code="0">Hold</value>
<value code="1">Loiter</value>
<value code=" 2">Acro</value>
</values>
</param>
<param humanName="Balance Bot pitch trim angle" name="APMrover2:BAL_PITCH_TRIM" documentation="Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass." user="Standard">
<field name="Range">-2 2</field>
<field name="Increment">0.1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stick Mixing" name="APMrover2:STICK_MIXING" documentation="When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Speed maximum" name="APMrover2:SPEED_MAX" documentation="Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE." user="Advanced">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Loiter speed gain" name="APMrover2:LOIT_SPEED_GAIN" documentation="Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
<values>
<value code="0">Nothing</value>
<value code="1">SaveWaypoint</value>
<value code="2">LearnCruiseSpeed</value>
<value code="3">ArmDisarm</value>
<value code="4">Manual</value>
<value code="5">Acro</value>
<value code="6">Steering</value>
<value code="7">Hold</value>
<value code="8">Auto</value>
<value code="9">RTL</value>
<value code="10">SmartRTL</value>
<value code="11">Guided</value>
<value code="12">Loiter</value>
</values>
</param>
<param humanName="Auxiliary switch channel" name="APMrover2:AUX_CH" documentation="RC Channel to use for auxiliary functions including saving waypoints" user="Advanced">
</param>
<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Pivot turn rate" name="APMrover2:PIVOT_TURN_RATE" documentation="Desired pivot turn rate in deg/s." user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
</parameters>
</vehicles><libraries><parameters name="AFS_">
<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
</param>
<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
</param>
<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
</param>
<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
</param>
<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
</param>
<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
</param>
<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
<field name="Units">mbar</field>
<field name="UnitText">millibar</field>
</param>
<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
</param>
<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
</param>
<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
</param>
<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
</param>
<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Max allowed range" name="AFS_MAX_RANGE" documentation="This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature." user="Advanced">
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
</parameters>
<parameters name="AHRS_">
<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
<value code="100">Custom</value>
</values>
</param>
<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
<field name="Range">0.001 0.5</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">Enable EKF2</value>
<value code="3">Enable EKF3</value>
</values>
</param>
<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="ARMING_">
<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">THR_MIN PWM when disarmed</value>
<value code="2">0 PWM when disarmed</value>
</values>
</param>
<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
<field name="Range">0.25 3.0</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ArmingOnly</value>
<value code="2">ArmOrDisarm</value>
</values>
</param>
<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
</param>
<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder</field>
<values>
<value code="0">None</value>
<value code="1">All</value>
<value code="2">Barometer</value>
<value code="4">Compass</value>
<value code="8">GPS Lock</value>
<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
<value code="32">Parameters(unused)</value>
<value code="64">RC Channels</value>
<value code="128">Board voltage</value>
<value code="256">Battery Level</value>
<value code="512">Airspeed</value>
<value code="1024">LoggingAvailable</value>
<value code="2048">Hardware safety switch</value>
<value code="4096">GPS configuration</value>
<value code="8192">System</value>
</values>
</param>
</parameters>
<parameters name="ARSPD">
<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
<values>
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
<value code="4">I2C-MS5525 (0x76)</value>
<value code="5">I2C-MS5525 (0x77)</value>
<value code="6">I2C-SDP3X</value>
<value code="7">I2C-DLVR-5in</value>
<value code="8">UAVCAN</value>
<value code="9">I2C-DLVR-10in</value>
</values>
</param>
<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
<values>
<value code="0">DoNotUse</value>
<value code="1">Use</value>
<value code="2">UseWhenZeroThrottle</value>
</values>
</param>
<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
</param>
<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
</param>
<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
</param>
<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
</param>
<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
<values>
<value code="0">Bus0(internal)</value>
<value code="1">Bus1(external)</value>
<value code="2">Bus2(auxillary)</value>
</values>
</param>
<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
<values>
<value code="0">FirstSensor</value>
<value code="1">2ndSensor</value>
</values>
</param>
<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed." user="Advanced">
<field name="Bitmask">0:Disable on sensor failure,1:Re-enable on sensor recovery</field>
</param>
<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
<values>
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
<value code="4">I2C-MS5525 (0x76)</value>
<value code="5">I2C-MS5525 (0x77)</value>
<value code="6">I2C-SDP3X</value>
<value code="7">I2C-DLVR-5in</value>
<value code="8">UAVCAN</value>
<value code="9">I2C-DLVR-10in</value>
</values>
</param>
<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
<values>
<value code="0">Don't Use</value>
<value code="1">use</value>
<value code="2">UseWhenZeroThrottle</value>
</values>
</param>
<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
</param>
<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
</param>
<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
</param>
<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
</param>
<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
<values>
<value code="0">Bus0(internal)</value>
<value code="1">Bus1(external)</value>
<value code="2">Bus2(auxillary)</value>
</values>
</param>
</parameters>
<parameters name="ATC">
<param humanName="Steering control rate P gain" name="ATC_STR_RAT_P" documentation="Steering control rate P gain.  Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)" user="Standard">
<field name="Range">0.000 2.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Steering control I gain" name="ATC_STR_RAT_I" documentation="Steering control I gain.  Corrects long term error between the desired turn rate (in rad/s) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Steering control I gain maximum" name="ATC_STR_RAT_IMAX" documentation="Steering control I gain maximum.  Constraings the steering output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Steering control D gain" name="ATC_STR_RAT_D" documentation="Steering control D gain.  Compensates for short-term change in desired turn rate vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Steering control feed forward" name="ATC_STR_RAT_FF" documentation="Steering control feed forward" user="Standard">
<field name="Range">0.000 3.000</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Steering control filter frequency" name="ATC_STR_RAT_FILT" documentation="Steering control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">0.000 100.000</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Steering control Target filter frequency in Hz" name="ATC_STR_RAT_FLTT" documentation="Target filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Steering control Error filter frequency in Hz" name="ATC_STR_RAT_FLTE" documentation="Error filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Steering control Derivative term filter frequency in Hz" name="ATC_STR_RAT_FLTD" documentation="Derivative filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Speed control P gain" name="ATC_SPEED_P" documentation="Speed control P gain.  Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)" user="Standard">
<field name="Range">0.010 2.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Speed control I gain" name="ATC_SPEED_I" documentation="Speed control I gain.  Corrects long term error between the desired speed (in m/s) and actual speed" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Speed control I gain maximum" name="ATC_SPEED_IMAX" documentation="Speed control I gain maximum.  Constraings the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Speed control D gain" name="ATC_SPEED_D" documentation="Speed control D gain.  Compensates for short-term change in desired speed vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Speed control feed forward" name="ATC_SPEED_FF" documentation="Speed control feed forward" user="Standard">
<field name="Range">0.000 0.500</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Speed control filter frequency" name="ATC_SPEED_FILT" documentation="Speed control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">0.000 100.000</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Speed control Target filter frequency in Hz" name="ATC_SPEED_FLTT" documentation="Target filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Speed control Error filter frequency in Hz" name="ATC_SPEED_FLTE" documentation="Error filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Speed control Derivative term filter frequency in Hz" name="ATC_SPEED_FLTD" documentation="Derivative filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Speed control acceleration (and deceleration) maximum in m/s/s" name="ATC_ACCEL_MAX" documentation="Speed control acceleration (and deceleration) maximum in m/s/s.  0 to disable acceleration limiting" user="Standard">
<field name="Range">0.0 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Speed control brake enable/disable" name="ATC_BRAKE" documentation="Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle." user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Speed control stop speed" name="ATC_STOP_SPEED" documentation="Speed control stop speed.  Motor outputs to zero once vehicle speed falls below this value" user="Standard">
<field name="Range">0.00 0.50</field>
<field name="Increment">0.01</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Steering control angle P gain" name="ATC_STR_ANG_P" documentation="Steering control angle P gain.  Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)" user="Standard">
<field name="Range">1.000 10.000</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Steering control angular acceleration maximum" name="ATC_STR_ACC_MAX" documentation="Steering control angular acceleration maximum (in deg/s/s).  0 to disable acceleration limiting" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
<field name="Units">deg/s/s</field>
<field name="UnitText">degrees per square second</field>
</param>
<param humanName="Steering control rotation rate maximum" name="ATC_STR_RAT_MAX" documentation="Steering control rotation rate maximum in deg/s.  0 to remove rate limiting" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Speed control deceleration maximum in m/s/s" name="ATC_DECEL_MAX" documentation="Speed control and deceleration maximum in m/s/s.  0 to use ATC_ACCEL_MAX for deceleration" user="Standard">
<field name="Range">0.0 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Pitch control P gain" name="ATC_BAL_P" documentation="Pitch control P gain for BalanceBots.  Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)" user="Standard">
<field name="Range">0.000 2.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch control I gain" name="ATC_BAL_I" documentation="Pitch control I gain for BalanceBots.  Corrects long term error between the desired pitch (in radians) and actual pitch" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Pitch control I gain maximum" name="ATC_BAL_IMAX" documentation="Pitch control I gain maximum.  Constrains the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch control D gain" name="ATC_BAL_D" documentation="Pitch control D gain.  Compensates for short-term change in desired pitch vs actual" user="Standard">
<field name="Range">0.000 0.100</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch control feed forward" name="ATC_BAL_FF" documentation="Pitch control feed forward" user="Standard">
<field name="Range">0.000 0.500</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch control filter frequency" name="ATC_BAL_FILT" documentation="Pitch control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">0.000 100.000</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch control Target filter frequency in Hz" name="ATC_BAL_FLTT" documentation="Target filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch control Error filter frequency in Hz" name="ATC_BAL_FLTE" documentation="Error filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch control Derivative term filter frequency in Hz" name="ATC_BAL_FLTD" documentation="Derivative filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch control feed forward from speed" name="ATC_BAL_SPD_FF" documentation="Pitch control feed forward from speed" user="Standard">
<field name="Range">0.0 10.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Sail Heel control P gain" name="ATC_SAIL_P" documentation="Sail Heel control P gain for sailboats.  Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)" user="Standard">
<field name="Range">0.000 2.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Sail Heel control I gain" name="ATC_SAIL_I" documentation="Sail Heel control I gain for sailboats.  Corrects long term error between the desired heel angle (in radians) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Sail Heel control I gain maximum" name="ATC_SAIL_IMAX" documentation="Sail Heel control I gain maximum.  Constrains the maximum I term contribution to the main sail output (range -1 to +1)" user="Standard">
<field name="Range">0.000 1.000</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Sail Heel control D gain" name="ATC_SAIL_D" documentation="Sail Heel control D gain.  Compensates for short-term change in desired heel angle vs actual" user="Standard">
<field name="Range">0.000 0.100</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Sail Heel control feed forward" name="ATC_SAIL_FF" documentation="Sail Heel control feed forward" user="Standard">
<field name="Range">0.000 0.500</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Sail Heel control filter frequency" name="ATC_SAIL_FILT" documentation="Sail Heel control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">0.000 100.000</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Sail Heel Target filter frequency in Hz" name="ATC_SAIL_FLTT" documentation="Target filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Sail Heel Error filter frequency in Hz" name="ATC_SAIL_FLTE" documentation="Error filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Sail Heel Derivative term filter frequency in Hz" name="ATC_SAIL_FLTD" documentation="Derivative filter frequency in Hz" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="AVOID_">
<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
<field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
<values>
<value code="0">None</value>
<value code="1">UseFence</value>
<value code="2">UseProximitySensor</value>
<value code="3">UseFence and UseProximitySensor</value>
<value code="4">UseBeaconFence</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
<field name="Range">0 4500</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
<field name="Range">1 30</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
<values>
<value code="0">Slide</value>
<value code="1">Stop</value>
</values>
</param>
</parameters>
<parameters name="BATT2_">
<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT3_">
<param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT3_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT4_">
<param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT4_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT5_">
<param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT5_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT6_">
<param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT6_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT7_">
<param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT7_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT8_">
<param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT8_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT9_">
<param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT9_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BATT_">
<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
<value code="9">BLHeli ESC</value>
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">RTL</value>
<value code="2">Hold</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Hold</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
<field name="Increment">50</field>
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
</param>
</parameters>
<parameters name="BCN">
<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Pozyx</value>
<value code="2">Marvelmind</value>
<value code="10">SITL</value>
</values>
</param>
<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
<field name="Range">0 10000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
<field name="Range">-180 +180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="BRD_">
<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
<values>
<value code="0">No PWMs</value>
<value code="1">One PWMs</value>
<value code="2">Two PWMs</value>
<value code="3">Three PWMs</value>
<value code="4">Four PWMs</value>
<value code="5">Five PWMs</value>
<value code="6">Six PWMs</value>
<value code="7">Seven PWMs</value>
<value code="8">Eight PWMs</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">50Hz</value>
<value code="2">75Hz</value>
<value code="3">100Hz</value>
<value code="4">150Hz</value>
<value code="5">200Hz</value>
<value code="6">250Hz</value>
<value code="7">300Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
<field name="Range">-32768 32767</field>
</param>
<param humanName="Channels which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
<field name="Range">-1 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
<values>
<value code="0">AUTO</value>
<value code="1">PX4V1</value>
<value code="2">Pixhawk</value>
<value code="3">Cube/Pixhawk2</value>
<value code="4">Pixracer</value>
<value code="5">PixhawkMini</value>
<value code="6">Pixhawk2Slim</value>
<value code="7">VRBrain 5.1</value>
<value code="8">VRBrain 5.2</value>
<value code="9">VR Micro Brain 5.1</value>
<value code="10">VR Micro Brain 5.2</value>
<value code="11">VRBrain Core 1.0</value>
<value code="12">VRBrain 5.4</value>
<value code="13">Intel Aero FC</value>
<value code="20">AUAV2.1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
</param>
<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
<field name="Range">4.0 5.5</field>
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
<field name="Range">3.3 12.0</field>
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
<field name="Range">0 32</field>
<field name="Increment">1</field>
</param>
<param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output." user="Advanced">
<values>
<value code="0">3.3V</value>
<value code="1">5V</value>
</values>
</param>
<param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
<field name="Bitmask">0:Enable hardware watchdog</field>
</param>
<param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
<field name="Range">0 10000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
</parameters>
<parameters name="BRD_RADIO">
<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers">
<values>
<value code="0">None</value>
<value code="1">CYRF6936</value>
<value code="2">CC2500</value>
<value code="3">BK2425</value>
</values>
</param>
<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
<values>
<value code="0">Auto</value>
<value code="1">DSM2</value>
<value code="2">DSMX</value>
</values>
</param>
<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
<field name="Range">0 4</field>
</param>
<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
<values>
<value code="0">NotDisabled</value>
<value code="1">Disabled</value>
</values>
</param>
<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MinChannel</value>
<value code="2">MidChannel</value>
<value code="3">MaxChannel</value>
<value code="4">MinChannelCW</value>
<value code="5">MidChannelCW</value>
<value code="6">MaxChannelCW</value>
</values>
</param>
<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
<values>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
</values>
</param>
<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestChan1</value>
<value code="2">TestChan2</value>
<value code="3">TestChan3</value>
<value code="4">TestChan4</value>
<value code="5">TestChan5</value>
<value code="6">TestChan6</value>
<value code="7">TestChan7</value>
<value code="8">TestChan8</value>
</values>
</param>
<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
<field name="Range">0 40</field>
</param>
<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
<field name="Range">0 120</field>
</param>
<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
<field name="Range">0 31</field>
</param>
</parameters>
<parameters name="BRD_RTC">
<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
</param>
</parameters>
<parameters name="BTN_">
<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
<field name="Range">0 3600</field>
</param>
</parameters>
<parameters name="CAM_">
<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
<values>
<value code="0">Servo</value>
<value code="1">Relay</value>
</values>
</param>
<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
<field name="Range">0 50</field>
<field name="Units">ds</field>
<field name="UnitText">deciseconds</field>
</param>
<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
<field name="Range">0 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
<field name="Range">0 10000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
<field name="Range">0 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
<values>
<value code="0">TriggerLow</value>
<value code="1">TriggerHigh</value>
</values>
</param>
<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
<values>
<value code="0">Always</value>
<value code="1">Only when in AUTO</value>
</values>
</param>
<param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
<values>
<value code="0">Default</value>
<value code="1">BMMCC</value>
</values>
</param>
</parameters>
<parameters name="CAN_D1_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
<value code="2">KDECAN</value>
<value code="3">ToshibaCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D1_KDE_">
<param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
</param>
</parameters>
<parameters name="CAN_D1_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D2_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
<value code="2">KDECAN</value>
<value code="3">ToshibaCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D2_KDE_">
<param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
</param>
</parameters>
<parameters name="CAN_D2_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D3_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
<value code="2">KDECAN</value>
<value code="3">ToshibaCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D3_KDE_">
<param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
</param>
</parameters>
<parameters name="CAN_D3_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_P1_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CAN_P2_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CAN_P3_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CAN_SLCAN_">
<param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Driver ID to be routed to SLCAN, 0 means no routing" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original protocol in seconds." user="Standard">
<field name="Range">0 32767</field>
</param>
</parameters>
<parameters name="COMPASS_">
<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
<field name="Range">-3.142 3.142</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Internal-Learning</value>
<value code="2">EKF-Learning</value>
<value code="3">InFlight-Learning</value>
</values>
</param>
<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Use Throttle</value>
<value code="2">Use Current</value>
</values>
</param>
<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
<values>
<value code="0">FirstCompass</value>
<value code="1">SecondCompass</value>
<value code="2">ThirdCompass</value>
</values>
</param>
<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
<field name="Range">4 32</field>
<values>
<value code="4">Very Strict</value>
<value code="8">Strict</value>
<value code="16">Default</value>
<value code="32">Relaxed</value>
</values>
<field name="Increment">0.1</field>
</param>
<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
<field name="Range">500 3000</field>
<field name="Increment">1</field>
</param>
<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
</param>
<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
<values>
<value code="0">Disabled</value>
<value code="1">CheckOnly</value>
<value code="2">CheckAndFix</value>
</values>
</param>
<param humanName="Compass device id expected" name="COMPASS_EXP_DID" documentation="The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
</param>
<param humanName="Compass2 device id expected" name="COMPASS_EXP_DID2" documentation="The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
</param>
<param humanName="Compass3 device id expected" name="COMPASS_EXP_DID3" documentation="The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
</param>
<param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="COMPASS_PMOT">
<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
</param>
</parameters>
<parameters name="EK2_">
<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
</values>
</param>
<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
<field name="Range">0.000001 0.001</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.005</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height." user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="external navigation system measurement delay (msec)" name="EK2_EXTNAV_DELAY" documentation="This is the number of msec that the external navigation system measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Navigation</value>
<value code="2">Terrain</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="EarthField error limit" name="EK2_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
<field name="Range">0 500</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
</parameters>
<parameters name="EK3_">
<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
<value code="5">Use external yaw sensor</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.005</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
<field name="Range">0.5 2.5</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.05 0.5</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Navigation</value>
<value code="2">Terrain</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="FENCE_">
<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
<values>
<value code="0">None</value>
<value code="1">Altitude</value>
<value code="2">Circle</value>
<value code="3">Altitude and Circle</value>
<value code="4">Polygon</value>
<value code="5">Altitude and Polygon</value>
<value code="6">Circle and Polygon</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
<values>
<value code="0">Report Only</value>
<value code="1">RTL or Land</value>
<value code="2">Always Land</value>
<value code="3">SmartRTL or RTL or Land</value>
<value code="4">Brake or Land</value>
</values>
</param>
<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
<field name="Range">30 10000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
<field name="Range">1 20</field>
</param>
<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="FOLL">
<param humanName="Follow enable/disable" name="FOLL_ENABLE" documentation="Enabled/disable following a target" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Follow target's mavlink system id" name="FOLL_SYSID" documentation="Follow target's mavlink system id" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
<field name="Range">1 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
<values>
<value code="0">North-East-Down</value>
<value code=" 1">Relative to lead vehicle heading</value>
</values>
</param>
<param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle will fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle will fly below the lead vehicle" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Face Lead Vehicle</value>
<value code="2">Same as Lead vehicle</value>
<value code="3">Direction of Flight</value>
</values>
</param>
<param humanName="Follow position error P gain" name="FOLL_POS_P" documentation="Follow position error P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
<field name="Range">0.01 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Follow altitude type" name="FOLL_ALT_TYPE" documentation="Follow altitude type" user="Standard">
<values>
<value code="0">absolute</value>
<value code=" 1"> relative</value>
</values>
</param>
</parameters>
<parameters name="GND_">
<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
<values>
<value code="0">FirstBaro</value>
<value code="1">2ndBaro</value>
<value code="2">3rdBaro</value>
</values>
</param>
<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
</values>
</param>
<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,10:MS5837,11:BMP388</field>
<values>
<value code="1">BMP085</value>
<value code="2">BMP280</value>
<value code="4">MS5611</value>
<value code="8">MS5607</value>
<value code="16">MS5637</value>
<value code="32">FBM320</value>
<value code="64">DPS280</value>
<value code="128">LPS25H</value>
<value code="256">Keller</value>
<value code="512">MS5837</value>
<value code="1024">BMP388</value>
</values>
</param>
</parameters>
<parameters name="GPS_">
<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
<value code="16">HemisphereNMEA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
<value code="16">HemisphereNMEA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
<values>
<value code="0">Portable</value>
<value code="2">Stationary</value>
<value code="3">Pedestrian</value>
<value code="4">Automotive</value>
<value code="5">Sea</value>
<value code="6">Airborne1G</value>
<value code="7">Airborne2G</value>
<value code="8">Airborne4G</value>
</values>
</param>
<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UseBest</value>
<value code="2">Blend</value>
<value code="3">UseSecond</value>
</values>
</param>
<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
<values>
<value code="0">Any</value>
<value code="50">FloatRTK</value>
<value code="100">IntegerRTK</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">NoChange</value>
</values>
</param>
<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
<field name="Range">-100 90</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
<values>
<value code="0">send to first GPS</value>
<value code="1">send to 2nd GPS</value>
<value code="127">send to all</value>
</values>
</param>
<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
<values>
<value code="0">None (0x0000)</value>
<value code="-1">All (0xFFFF)</value>
<value code="-256">External only (0xFF00)</value>
</values>
</param>
<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
<values>
<value code="0">Ignore</value>
<value code="1">Always log</value>
<value code="2">Stop logging when disarmed (SBF only)</value>
<value code="5">Only log every five samples (uBlox only)</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
<values>
<value code="0">Do not save config</value>
<value code="1">Save config</value>
<value code="2">Save only when needed</value>
</values>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
<values>
<value code="0">Disables automatic configuration</value>
<value code="1">Enable automatic configuration</value>
</values>
</param>
<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
</param>
<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
<field name="Range">5.0 30.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="GRIP_">
<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Servo</value>
<value code="2">EPM</value>
</values>
</param>
<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
<field name="Range">0 255</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
<field name="Range">0 255</field>
</param>
</parameters>
<parameters name="INS_">
<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 256</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 256</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
<field name="Range">0.05 50</field>
</param>
<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
<values>
<value code="0">Never</value>
<value code=" 1">Start-up only</value>
</values>
</param>
<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
<values>
<value code="0">Don't adjust the trims</value>
<value code="1">Assume first orientation was level</value>
<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
</values>
</param>
<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
<values>
<value code="1">IMU 1</value>
<value code="2">IMU 2</value>
<value code="3">IMU 3</value>
</values>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Range">-10 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
<values>
<value code="1">FirstIMUOnly</value>
<value code="3">FirstAndSecondIMU</value>
</values>
</param>
<param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
<values>
<value code="1">FirstIMUOnly</value>
<value code="3">FirstAndSecondIMU</value>
<value code="7">FirstSecondAndThirdIMU</value>
<value code="127">AllIMUs</value>
</values>
</param>
</parameters>
<parameters name="INS_HNTCH_">
<param humanName="Harmonic Notch Filter enable" name="INS_HNTCH_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz" user="Advanced">
<field name="Range">10 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz" user="Advanced">
<field name="Range">5 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB" user="Advanced">
<field name="Range">5 30</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
<param humanName="Harmonic Notch Filter harmonics" name="INS_HNTCH_HMNCS" documentation="Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time" user="Advanced">
<field name="Bitmask">0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Harmonic Notch Filter reference value" name="INS_HNTCH_REF" documentation="Reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter" user="Advanced">
<field name="Range">0.1 0.9</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="INS_LOG_">
<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32. This option takes effect on the next reboot." user="Advanced">
<field name="Increment">32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot." user="Advanced">
<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
<values>
<value code="0">None</value>
<value code="1">First IMU</value>
<value code="255">All</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering</field>
</param>
<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="INS_NOTCH_">
<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
<field name="Range">5 30</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
<field name="Range">10 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
<field name="Range">5 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="LOG">
<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
<values>
<value code="0">None</value>
<value code="1">File</value>
<value code="2">MAVLink</value>
<value code="3">File and MAVLink</value>
<value code="4">Block</value>
<value code="6">Block and MAVLink</value>
</values>
</param>
<param humanName="Maximum AP_Logger File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The AP_Logger_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
</param>
<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
<field name="Units">kB</field>
<field name="UnitText">kilobytes</field>
</param>
<param humanName="Timeout before giving up on file writes" name="LOG_FILE_TIMEOUT" documentation="This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped." user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="MIS_">
<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
<field name="ReadOnly">True</field>
<field name="Range">0 32766</field>
<field name="Increment">1</field>
</param>
<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
<values>
<value code="0">Resume Mission</value>
<value code=" 1">Restart Mission</value>
</values>
</param>
<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
<field name="Bitmask">0:Clear Mission on reboot</field>
</param>
</parameters>
<parameters name="MNT">
<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
</param>
</parameters>
<parameters name="MOT_">
<param humanName="Motor Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)" user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">BrushedWithRelay</value>
<value code="4">BrushedBiPolar</value>
<value code="5">DShot150</value>
<value code="6">DShot300</value>
<value code="7">DShot600</value>
<value code="8">DShot1200</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Motor Output PWM freq for brushed motors" name="MOT_PWM_FREQ" documentation="Motor Output PWM freq for brushed motors" user="Advanced">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">kHz</field>
<field name="UnitText">kilohertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
<values>
<value code="0">PWM enabled while disarmed</value>
<value code=" 1">PWM disabled while disarmed</value>
</values>
</param>
<param humanName="Throttle minimum" name="MOT_THR_MIN" documentation="Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions." user="Standard">
<field name="Range">0 20</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Throttle maximum" name="MOT_THR_MAX" documentation="Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover" user="Standard">
<field name="Range">30 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Throttle slew rate" name="MOT_SLEWRATE" documentation="Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second.  A value of zero disables the limit.  Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">%/s</field>
<field name="UnitText">percent per second</field>
</param>
<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Thrust curve exponent (-1 to +1 with 0 being linear)" user="Advanced">
<field name="Range">-1.0 1.0</field>
</param>
<param humanName="Vector thrust throttle base" name="MOT_VEC_THR_BASE" documentation="Throttle level above which steering is scaled down when using vector thrust.  zero to disable vectored thrust" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Motor speed scaling base speed" name="MOT_SPD_SCA_BASE" documentation="Speed above which steering is scaled down when using regular steering/throttle vehicles.  zero to disable speed scaling" user="Advanced">
<field name="Range">0 10</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
</parameters>
<parameters name="NAVL1_">
<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
<field name="Range">1 60</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
<field name="Range">0.6 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
<field name="Range">0 0.1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
<field name="Range">0 89</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="NTF_">
<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
<values>
<value code="0">Off</value>
<value code="1">Low</value>
<value code="2">Medium</value>
<value code="3">High</value>
</values>
</param>
<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation='Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.' user="Advanced">
<values>
<value code="0">Standard</value>
<value code="1">MAVLink</value>
<value code="2">OutbackChallenge</value>
<value code="3">TrafficLight</value>
</values>
</param>
<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">ssd1306</value>
<value code="2">sh1106</value>
<value code="10">SITL</value>
</values>
</param>
<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Aircraft</value>
<value code="2">Rover</value>
</values>
</param>
<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
<values>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel</field>
</param>
<param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
<values>
<value code="0">LowIsOn</value>
<value code="1">HighIsOn</value>
</values>
</param>
<param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Enable or disable the buzzer.">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="OA_">
<param humanName="Object Avoidance Path Planning algorithm to use" name="OA_TYPE" documentation="Enabled/disable path planning around obstacles" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">BendyRuler</value>
<value code="2">Dijkstra</value>
</values>
</param>
<param humanName="Object Avoidance look ahead distance maximum" name="OA_LOOKAHEAD" documentation="Object Avoidance will look this many meters ahead of vehicle" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Object Avoidance wide margin distance" name="OA_MARGIN_MAX" documentation="Object Avoidance will ignore objects more than this many meters from vehicle" user="Standard">
<field name="Range">0.1 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="OA_DB_">
<param humanName="OADatabase maximum number of points" name="OA_DB_SIZE" documentation="OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process" user="Advanced">
<field name="Range">0 10000</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OADatabase item timeout" name="OA_DB_EXPIRE" documentation="OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="OADatabase queue maximum number of points" name="OA_DB_QUEUE_SIZE" documentation="OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data." user="Advanced">
<field name="Range">1 200</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OADatabase output level" name="OA_DB_OUTPUT" documentation="OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Send only HIGH importance items</value>
<value code="2">Send HIGH and NORMAL importance items</value>
<value code="3">Send all items</value>
</values>
</param>
</parameters>
<parameters name="OSD">
<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">MAX7456</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
<values>
<value code="0">Disable</value>
<value code="5">Chan5</value>
<value code="6">Chan6</value>
<value code="7">Chan7</value>
<value code="8">Chan8</value>
<value code="9">Chan9</value>
<value code="10">Chan10</value>
<value code="11">Chan11</value>
<value code="12">Chan12</value>
<value code="13">Chan13</value>
<value code="14">Chan14</value>
<value code="15">Chan15</value>
<value code="16">Chan16</value>
</values>
</param>
<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll</field>
</param>
<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
<field name="RebootRequired">True</field>
</param>
<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
<field name="Range">0 31</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
<field name="Range">0 63</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash" user="Standard">
<field name="Range">0 99</field>
</param>
<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
<field name="Range">1 30</field>
</param>
<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
<values>
<value code="0">Metric</value>
<value code="1">Imperial</value>
<value code="2">SI</value>
<value code="3">Aviation</value>
</values>
</param>
<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
<field name="Range">1 20</field>
</param>
<param humanName="Arm screen" name="OSD_ARM_SCR" documentation="Screen to be shown on Arm event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Disarm screen" name="OSD_DSARM_SCR" documentation="Screen to be shown on disarm event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Failsafe screen" name="OSD_FS_SCR" documentation="Screen to be shown on failsafe event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
</parameters>
<parameters name="OSD1_">
<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD1_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATVOLT_EN" name="OSD1_BATVOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD1_BATVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATVOLT_Y" name="OSD1_BATVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="RSSI_EN" name="OSD1_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD1_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RSSI_Y" name="OSD1_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CURRENT_EN" name="OSD1_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD1_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CURRENT_Y" name="OSD1_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATUSED_EN" name="OSD1_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD1_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATUSED_Y" name="OSD1_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="SATS_EN" name="OSD1_SATS_EN" documentation="Displays number of acquired sattelites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD1_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="SATS_Y" name="OSD1_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTMODE_EN" name="OSD1_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTMODE_Y" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="MESSAGE_EN" name="OSD1_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="MESSAGE_Y" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GSPEED_EN" name="OSD1_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD1_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GSPEED_Y" name="OSD1_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HORIZON_EN" name="OSD1_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD1_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HORIZON_Y" name="OSD1_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HOME_EN" name="OSD1_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD1_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HOME_Y" name="OSD1_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HEADING_EN" name="OSD1_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD1_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HEADING_Y" name="OSD1_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="THROTTLE_EN" name="OSD1_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD1_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="THROTTLE_Y" name="OSD1_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="COMPASS_EN" name="OSD1_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD1_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="COMPASS_Y" name="OSD1_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WIND_EN" name="OSD1_WIND_EN" documentation="Displays wind speed and relative direction">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD1_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WIND_Y" name="OSD1_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPEED_EN" name="OSD1_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD1_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPEED_Y" name="OSD1_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="VSPEED_EN" name="OSD1_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD1_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="VSPEED_Y" name="OSD1_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHTEMP_EN" name="OSD1_BLHTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHTEMP_X" name="OSD1_BLHTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHTEMP_Y" name="OSD1_BLHTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHRPM_EN" name="OSD1_BLHRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHRPM_X" name="OSD1_BLHRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHRPM_Y" name="OSD1_BLHRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHAMPS_EN" name="OSD1_BLHAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHAMPS_X" name="OSD1_BLHAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHAMPS_Y" name="OSD1_BLHAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLAT_EN" name="OSD1_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLAT_Y" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLONG_EN" name="OSD1_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLONG_Y" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ROLL_EN" name="OSD1_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD1_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ROLL_Y" name="OSD1_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="PITCH_EN" name="OSD1_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD1_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="PITCH_Y" name="OSD1_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="TEMP_EN" name="OSD1_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD1_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="TEMP_Y" name="OSD1_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HDOP_EN" name="OSD1_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD1_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HDOP_Y" name="OSD1_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD1_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="XTRACK_EN" name="OSD1_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD1_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="XTRACK_Y" name="OSD1_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="DIST_EN" name="OSD1_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD1_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="DIST_Y" name="OSD1_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="STATS_EN" name="OSD1_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD1_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="STATS_Y" name="OSD1_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTIME_EN" name="OSD1_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD1_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTIME_Y" name="OSD1_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD1_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="EFF_EN" name="OSD1_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD1_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="EFF_Y" name="OSD1_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BTEMP_EN" name="OSD1_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD1_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BTEMP_Y" name="OSD1_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ATEMP_EN" name="OSD1_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD1_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ATEMP_Y" name="OSD1_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD1_BAT2VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD1_BAT2VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD1_BAT2VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2USED_EN" name="OSD1_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD1_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2USED_Y" name="OSD1_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD2_EN" name="OSD1_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD1_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD2_Y" name="OSD1_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD1_EN" name="OSD1_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD1_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD1_Y" name="OSD1_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="OSD2_">
<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD2_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATVOLT_EN" name="OSD2_BATVOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD2_BATVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATVOLT_Y" name="OSD2_BATVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="RSSI_EN" name="OSD2_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD2_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RSSI_Y" name="OSD2_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CURRENT_EN" name="OSD2_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD2_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CURRENT_Y" name="OSD2_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATUSED_EN" name="OSD2_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD2_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATUSED_Y" name="OSD2_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="SATS_EN" name="OSD2_SATS_EN" documentation="Displays number of acquired sattelites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD2_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="SATS_Y" name="OSD2_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTMODE_EN" name="OSD2_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTMODE_Y" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="MESSAGE_EN" name="OSD2_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="MESSAGE_Y" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GSPEED_EN" name="OSD2_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD2_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GSPEED_Y" name="OSD2_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HORIZON_EN" name="OSD2_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD2_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HORIZON_Y" name="OSD2_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HOME_EN" name="OSD2_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD2_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HOME_Y" name="OSD2_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HEADING_EN" name="OSD2_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD2_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HEADING_Y" name="OSD2_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="THROTTLE_EN" name="OSD2_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD2_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="THROTTLE_Y" name="OSD2_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="COMPASS_EN" name="OSD2_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD2_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="COMPASS_Y" name="OSD2_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WIND_EN" name="OSD2_WIND_EN" documentation="Displays wind speed and relative direction">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD2_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WIND_Y" name="OSD2_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPEED_EN" name="OSD2_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD2_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPEED_Y" name="OSD2_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="VSPEED_EN" name="OSD2_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD2_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="VSPEED_Y" name="OSD2_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHTEMP_EN" name="OSD2_BLHTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHTEMP_X" name="OSD2_BLHTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHTEMP_Y" name="OSD2_BLHTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHRPM_EN" name="OSD2_BLHRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHRPM_X" name="OSD2_BLHRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHRPM_Y" name="OSD2_BLHRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHAMPS_EN" name="OSD2_BLHAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHAMPS_X" name="OSD2_BLHAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHAMPS_Y" name="OSD2_BLHAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLAT_EN" name="OSD2_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLAT_Y" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLONG_EN" name="OSD2_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLONG_Y" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ROLL_EN" name="OSD2_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD2_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ROLL_Y" name="OSD2_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="PITCH_EN" name="OSD2_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD2_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="PITCH_Y" name="OSD2_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="TEMP_EN" name="OSD2_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD2_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="TEMP_Y" name="OSD2_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HDOP_EN" name="OSD2_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD2_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HDOP_Y" name="OSD2_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD2_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="XTRACK_EN" name="OSD2_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD2_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="XTRACK_Y" name="OSD2_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="DIST_EN" name="OSD2_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD2_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="DIST_Y" name="OSD2_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="STATS_EN" name="OSD2_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD2_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="STATS_Y" name="OSD2_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTIME_EN" name="OSD2_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD2_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTIME_Y" name="OSD2_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD2_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="EFF_EN" name="OSD2_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD2_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="EFF_Y" name="OSD2_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BTEMP_EN" name="OSD2_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD2_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BTEMP_Y" name="OSD2_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ATEMP_EN" name="OSD2_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD2_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ATEMP_Y" name="OSD2_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD2_BAT2VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD2_BAT2VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD2_BAT2VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2USED_EN" name="OSD2_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD2_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2USED_Y" name="OSD2_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD2_EN" name="OSD2_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD2_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD2_Y" name="OSD2_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD1_EN" name="OSD2_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD2_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD1_Y" name="OSD2_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="OSD3_">
<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD3_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATVOLT_EN" name="OSD3_BATVOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD3_BATVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATVOLT_Y" name="OSD3_BATVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="RSSI_EN" name="OSD3_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD3_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RSSI_Y" name="OSD3_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CURRENT_EN" name="OSD3_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD3_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CURRENT_Y" name="OSD3_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATUSED_EN" name="OSD3_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD3_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATUSED_Y" name="OSD3_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="SATS_EN" name="OSD3_SATS_EN" documentation="Displays number of acquired sattelites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD3_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="SATS_Y" name="OSD3_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTMODE_EN" name="OSD3_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTMODE_Y" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="MESSAGE_EN" name="OSD3_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="MESSAGE_Y" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GSPEED_EN" name="OSD3_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD3_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GSPEED_Y" name="OSD3_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HORIZON_EN" name="OSD3_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD3_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HORIZON_Y" name="OSD3_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HOME_EN" name="OSD3_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD3_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HOME_Y" name="OSD3_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HEADING_EN" name="OSD3_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD3_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HEADING_Y" name="OSD3_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="THROTTLE_EN" name="OSD3_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD3_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="THROTTLE_Y" name="OSD3_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="COMPASS_EN" name="OSD3_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD3_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="COMPASS_Y" name="OSD3_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WIND_EN" name="OSD3_WIND_EN" documentation="Displays wind speed and relative direction">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD3_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WIND_Y" name="OSD3_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPEED_EN" name="OSD3_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD3_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPEED_Y" name="OSD3_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="VSPEED_EN" name="OSD3_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD3_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="VSPEED_Y" name="OSD3_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHTEMP_EN" name="OSD3_BLHTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHTEMP_X" name="OSD3_BLHTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHTEMP_Y" name="OSD3_BLHTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHRPM_EN" name="OSD3_BLHRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHRPM_X" name="OSD3_BLHRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHRPM_Y" name="OSD3_BLHRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHAMPS_EN" name="OSD3_BLHAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHAMPS_X" name="OSD3_BLHAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHAMPS_Y" name="OSD3_BLHAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLAT_EN" name="OSD3_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLAT_Y" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLONG_EN" name="OSD3_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLONG_Y" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ROLL_EN" name="OSD3_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD3_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ROLL_Y" name="OSD3_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="PITCH_EN" name="OSD3_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD3_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="PITCH_Y" name="OSD3_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="TEMP_EN" name="OSD3_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD3_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="TEMP_Y" name="OSD3_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HDOP_EN" name="OSD3_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD3_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HDOP_Y" name="OSD3_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD3_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="XTRACK_EN" name="OSD3_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD3_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="XTRACK_Y" name="OSD3_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="DIST_EN" name="OSD3_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD3_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="DIST_Y" name="OSD3_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="STATS_EN" name="OSD3_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD3_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="STATS_Y" name="OSD3_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTIME_EN" name="OSD3_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD3_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTIME_Y" name="OSD3_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD3_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="EFF_EN" name="OSD3_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD3_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="EFF_Y" name="OSD3_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BTEMP_EN" name="OSD3_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD3_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BTEMP_Y" name="OSD3_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ATEMP_EN" name="OSD3_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD3_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ATEMP_Y" name="OSD3_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD3_BAT2VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD3_BAT2VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD3_BAT2VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2USED_EN" name="OSD3_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD3_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2USED_Y" name="OSD3_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD2_EN" name="OSD3_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD3_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD2_Y" name="OSD3_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD1_EN" name="OSD3_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD3_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD1_Y" name="OSD3_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="OSD4_">
<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD4_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATVOLT_EN" name="OSD4_BATVOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD4_BATVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATVOLT_Y" name="OSD4_BATVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="RSSI_EN" name="OSD4_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD4_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RSSI_Y" name="OSD4_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CURRENT_EN" name="OSD4_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD4_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CURRENT_Y" name="OSD4_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BATUSED_EN" name="OSD4_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD4_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BATUSED_Y" name="OSD4_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="SATS_EN" name="OSD4_SATS_EN" documentation="Displays number of acquired sattelites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD4_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="SATS_Y" name="OSD4_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTMODE_EN" name="OSD4_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTMODE_Y" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="MESSAGE_EN" name="OSD4_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="MESSAGE_Y" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GSPEED_EN" name="OSD4_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD4_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GSPEED_Y" name="OSD4_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HORIZON_EN" name="OSD4_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD4_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HORIZON_Y" name="OSD4_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HOME_EN" name="OSD4_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD4_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HOME_Y" name="OSD4_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HEADING_EN" name="OSD4_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD4_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HEADING_Y" name="OSD4_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="THROTTLE_EN" name="OSD4_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD4_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="THROTTLE_Y" name="OSD4_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="COMPASS_EN" name="OSD4_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD4_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="COMPASS_Y" name="OSD4_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WIND_EN" name="OSD4_WIND_EN" documentation="Displays wind speed and relative direction">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD4_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WIND_Y" name="OSD4_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPEED_EN" name="OSD4_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD4_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPEED_Y" name="OSD4_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="VSPEED_EN" name="OSD4_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD4_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="VSPEED_Y" name="OSD4_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHTEMP_EN" name="OSD4_BLHTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHTEMP_X" name="OSD4_BLHTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHTEMP_Y" name="OSD4_BLHTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHRPM_EN" name="OSD4_BLHRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHRPM_X" name="OSD4_BLHRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHRPM_Y" name="OSD4_BLHRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BLHAMPS_EN" name="OSD4_BLHAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHAMPS_X" name="OSD4_BLHAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BLHAMPS_Y" name="OSD4_BLHAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLAT_EN" name="OSD4_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLAT_Y" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="GPSLONG_EN" name="OSD4_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="GPSLONG_Y" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ROLL_EN" name="OSD4_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD4_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ROLL_Y" name="OSD4_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="PITCH_EN" name="OSD4_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD4_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="PITCH_Y" name="OSD4_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="TEMP_EN" name="OSD4_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD4_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="TEMP_Y" name="OSD4_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="HDOP_EN" name="OSD4_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD4_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="HDOP_Y" name="OSD4_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD4_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD4_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD4_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="XTRACK_EN" name="OSD4_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD4_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="XTRACK_Y" name="OSD4_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="DIST_EN" name="OSD4_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD4_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="DIST_Y" name="OSD4_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="STATS_EN" name="OSD4_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD4_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="STATS_Y" name="OSD4_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="FLTIME_EN" name="OSD4_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD4_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="FLTIME_Y" name="OSD4_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD4_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="EFF_EN" name="OSD4_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD4_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="EFF_Y" name="OSD4_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BTEMP_EN" name="OSD4_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD4_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BTEMP_Y" name="OSD4_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ATEMP_EN" name="OSD4_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD4_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ATEMP_Y" name="OSD4_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD4_BAT2VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD4_BAT2VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD4_BAT2VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="BAT2USED_EN" name="OSD4_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD4_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="BAT2USED_Y" name="OSD4_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD2_EN" name="OSD4_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD4_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD2_Y" name="OSD4_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="ASPD1_EN" name="OSD4_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD4_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="ASPD1_Y" name="OSD4_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="PRX">
<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
<value code="10">SITL</value>
<value code="11">MorseSITL</value>
<value code="12">AirSimSITL</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="RALLY_">
<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
</param>
<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
<values>
<value code="0">DoNotIncludeHome</value>
<value code="1">IncludeHome</value>
</values>
</param>
</parameters>
<parameters name="RC">
<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
<field name="Range">0.0 120.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe</field>
</param>
</parameters>
<parameters name="RC10_">
<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC11_">
<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC12_">
<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC13_">
<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC14_">
<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC15_">
<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC16_">
<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC1_">
<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC2_">
<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC3_">
<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC4_">
<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC5_">
<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC6_">
<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC7_">
<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC8_">
<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RC9_">
<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 4">RTL</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 11">Fence</value>
<value code=" 16">Auto</value>
<value code=" 19">Gripper</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 28">Relay On/Off</value>
<value code=" 30">Lost Rover Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 40">Proximity Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 46">RC Override Enable</value>
<value code=" 50">LearnCruise</value>
<value code=" 51">Manual</value>
<value code=" 52">Acro</value>
<value code=" 53">Steering</value>
<value code=" 54">Hold</value>
<value code=" 55">Guided</value>
<value code=" 56">Loiter</value>
<value code=" 57">Follow</value>
<value code=" 58">Clear Waypoints</value>
<value code=" 59">Simple</value>
<value code=" 62">Compass Learn</value>
<value code=" 63">Sailboat Tack</value>
<value code=" 65">GPS Disable</value>
<value code=" 66">Relay5</value>
<value code=" 67">Relay6</value>
<value code=" 74">Sailboat motoring 3pos</value>
<value code=" 100">KillIMU1</value>
<value code=" 101">KillIMU2</value>
<value code="207">MainSail</value>
</values>
</param>
</parameters>
<parameters name="RCMAP_">
<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Values">1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Values">1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="RELAY_">
<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
<param humanName="Fifth Relay Pin" name="RELAY_PIN5" documentation="Digital pin number for 5th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Sixth Relay Pin" name="RELAY_PIN6" documentation="Digital pin number for 6th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</param>
</parameters>
<parameters name="RNGFND1_">
<param humanName="Rangefinder type" name="RNGFND1_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND1_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND1_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND1_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND1_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND1_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND1_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND1_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND1_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND1_">
<param humanName="Moving Average Range" name="RNGFND1_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND1_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND1_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND1_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND1_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND1_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND2_">
<param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND2_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND2_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND2_">
<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND3_">
<param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND3_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND3_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND3_">
<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND4_">
<param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND4_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND4_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND4_">
<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND5_">
<param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND5_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND5_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND5_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND5_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND5_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND5_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND5_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND5_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND5_">
<param humanName="Moving Average Range" name="RNGFND5_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND5_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND5_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND5_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND5_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND5_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND6_">
<param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND6_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND6_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND6_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND6_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND6_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND6_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND6_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND6_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND6_">
<param humanName="Moving Average Range" name="RNGFND6_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND6_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND6_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND6_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND6_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND6_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND7_">
<param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND7_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND7_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND7_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND7_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND7_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND7_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND7_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND7_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND7_">
<param humanName="Moving Average Range" name="RNGFND7_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND7_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND7_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND7_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND7_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND7_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND8_">
<param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND8_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND8_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND8_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND8_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND8_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND8_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND8_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND8_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND8_">
<param humanName="Moving Average Range" name="RNGFND8_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND8_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND8_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND8_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND8_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND8_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFND9_">
<param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND9_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND9_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFND9_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND9_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND9_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND9_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND9_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND9_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFND9_">
<param humanName="Moving Average Range" name="RNGFND9_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND9_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND9_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND9_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND9_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND9_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RNGFNDA_">
<param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">BenewakeTFmini</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">UAVCAN</value>
<value code="25">BenewakeTFMiniPlus</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFNDA_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFNDA_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Ratiometric" name="RNGFNDA_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFNDA_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFNDA_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFNDA_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFNDA_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFNDA_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RNGFNDA_">
<param humanName="Moving Average Range" name="RNGFNDA_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFNDA_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFNDA_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFNDA_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFNDA_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFNDA_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
</parameters>
<parameters name="RPM">
<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
<field name="Increment">0.001</field>
</param>
<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="RSSI_">
<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">AnalogPin</value>
<value code="2">RCChannelPwmValue</value>
<value code="3">ReceiverProtocol</value>
<value code="4">PWMInputPin</value>
</values>
</param>
<param humanName="Receiver RSSI sensing pin" name="RSSI_ANA_PIN" documentation="Pin used to read the RSSI voltage or PWM value" user="Standard">
<values>
<value code="8">V5 Nano</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="15">Pixhawk2 ADC</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="RSSI pin's lowest voltage" name="RSSI_PIN_LOW" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH" user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="RSSI pin's highest voltage" name="RSSI_PIN_HIGH" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW" user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
<field name="Range">0 16</field>
</param>
<param humanName="RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH" user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW" user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="SAIL_">
<param humanName="Enable Sailboat" name="SAIL_ENABLE" documentation="This enables Sailboat functionality" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sail min angle" name="SAIL_ANGLE_MIN" documentation="Mainsheet tight, angle between centerline and boom" user="Standard">
<field name="Range">0 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Sail max angle" name="SAIL_ANGLE_MAX" documentation="Mainsheet loose, angle between centerline and boom" user="Standard">
<field name="Range">0 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Sail ideal angle" name="SAIL_ANGLE_IDEAL" documentation="Ideal angle between sail and apparent wind" user="Standard">
<field name="Range">0 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Sailing maximum heel angle" name="SAIL_HEEL_MAX" documentation="When in auto sail trim modes the heel will be limited to this value using PID control" user="Standard">
<field name="Range">0 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Sailing no go zone angle" name="SAIL_NO_GO_ANGLE" documentation="The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind" user="Standard">
<field name="Range">0 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Sailboat minimum wind speed to sail in" name="SAIL_WNDSPD_MIN" documentation="Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted" user="Standard">
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
</parameters>
<parameters name="SCHED_">
<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">ShowSlips</value>
<value code="3">ShowOverruns</value>
</values>
</param>
<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
<values>
<value code="50">50Hz</value>
<value code="100">100Hz</value>
<value code="200">200Hz</value>
<value code="250">250Hz</value>
<value code="300">300Hz</value>
<value code="400">400Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SCR_">
<param humanName="Enable Scripting" name="SCR_ENABLE" documentation="Controls if scripting is enabled" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Lua Scripts</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Scripting Virtual Machine Instruction Count" name="SCR_VM_I_COUNT" documentation="The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time" user="Advanced">
<field name="Range">1000 1000000</field>
<field name="Increment">10000</field>
</param>
<param humanName="Scripting Heap Size" name="SCR_HEAP_SIZE" documentation="Amount of memory available for scripting" user="Advanced">
<field name="Range">1024 1048576</field>
<field name="Increment">1024</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERIAL">
<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
<values>
<value code="1">MAVlink1</value>
<value code=" 2">MAVLink2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
<field name="Range">0 120</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
<value code=" 18">OpticalFlow</value>
<value code=" 19">RobotisServo</value>
<value code=" 20">NMEA Output</value>
<value code=" 21">WindVane</value>
<value code=" 22">SLCAN</value>
<value code=" 23">RCIN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="256">256000</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO">
<param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
<field name="Range">25 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO10_">
<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO11_">
<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO12_">
<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO13_">
<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO14_">
<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO15_">
<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO16_">
<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO1_">
<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO2_">
<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO3_">
<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO4_">
<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO5_">
<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO6_">
<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO7_">
<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO8_">
<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO9_">
<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="88">Winch</value>
<value code="89">Main Sail</value>
<value code="90">Camera ISO</value>
<value code="91">Camera Focus</value>
<value code="92">Camera Shutter Speed</value>
<value code="94">Script 1</value>
<value code="95">Script 2</value>
<value code="96">Script 3</value>
<value code="97">Script 4</value>
<value code="98">Script 5</value>
<value code="99">Script 6</value>
<value code="100">Script 7</value>
<value code="101">Script 8</value>
<value code="102">Script 9</value>
<value code="103">Script 10</value>
<value code="104">Script 11</value>
<value code="105">Script 12</value>
<value code="106">Script 13</value>
<value code="107">Script 14</value>
<value code="108">Script 15</value>
<value code="109">Script 16</value>
</values>
</param>
</parameters>
<parameters name="SERVO_BLH_">
<param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
<param humanName="BLHeli auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHeli internal interface test" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestMotor1</value>
<value code="2">TestMotor2</value>
<value code="3">TestMotor3</value>
<value code="4">TestMotor4</value>
<value code="5">TestMotor5</value>
<value code="6">TestMotor6</value>
<value code="7">TestMotor7</value>
<value code="8">TestMotor8</value>
</values>
</param>
<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
<field name="Range">0 300</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
<field name="Range">0 500</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BLHeli output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed</value>
<value code="4">DShot150</value>
<value code="5">DShot300</value>
<value code="6">DShot600</value>
<value code="7">DShot1200</value>
</values>
</param>
<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the telemetry port to use for blheli pass-thru" user="Advanced">
<values>
<value code="0">Console</value>
<value code="1">Telem1</value>
<value code="2">Telem2</value>
<value code="3">Telem3</value>
<value code="4">Telem4</value>
<value code="5">Telem5</value>
</values>
</param>
<param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
<field name="Range">1 127</field>
</param>
<param humanName="BLHeli bitmask of reversible channels" name="SERVO_BLH_REMASK" documentation="Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
</parameters>
<parameters name="SERVO_ROB_">
<param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
<field name="Range">0 4095</field>
</param>
<param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
<field name="Range">0 4095</field>
</param>
</parameters>
<parameters name="SERVO_SBUS_">
<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
<field name="Range">25 250</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO_VOLZ_">
<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
</parameters>
<parameters name="SIM_GRPE_">
<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPE_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Gripper emp pin" name="SIM_GRPE_PIN" documentation="The pin number that the gripper emp is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="SIM_GRPS_">
<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPS_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Gripper servo pin" name="SIM_GRPS_PIN" documentation="The pin number that the gripper servo is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
<param humanName="Gripper Grab PWM" name="SIM_GRPS_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Release PWM" name="SIM_GRPS_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper close direction" name="SIM_GRPS_REVERSE" documentation="Reverse the closing direction." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reverse</value>
</values>
</param>
</parameters>
<parameters name="SIM_PLD_">
<param humanName="Preland device Sim enable/disable" name="SIM_PLD_ENABLE" documentation="Allows you to enable (1) or disable (0) the Preland simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Precland device origin's latitude" name="SIM_PLD_LAT" documentation="Precland device origin's latitude" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Precland device origin's longitude" name="SIM_PLD_LON" documentation="Precland device origin's longitude" user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Precland device origin's height above sealevel" name="SIM_PLD_HEIGHT" documentation="Precland device origin's height above sealevel" user="Advanced">
<field name="Range">0 10000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Precland device systems rotation from north" name="SIM_PLD_YAW" documentation="Precland device systems rotation from north" user="Advanced">
<field name="Range">-180 +180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Precland device update rate" name="SIM_PLD_RATE" documentation="Precland device rate. e.g led patter refresh rate, RF message rate, etc." user="Advanced">
<field name="Range">0 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Precland device radiance type" name="SIM_PLD_TYPE" documentation="Precland device radiance type: it can be a cylinder, a cone, or a sphere." user="Advanced">
<values>
<value code="0">cylinder</value>
<value code="1">cone</value>
<value code="2">sphere</value>
</values>
</param>
<param humanName="Precland device alt range" name="SIM_PLD_ALT_LIMIT" documentation="Precland device maximum range altitude" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Precland device lateral range" name="SIM_PLD_DIST_LIMIT" documentation="Precland device maximum lateral range" user="Advanced">
<field name="Range">5 100</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="SIM_SPR_">
<param humanName="Gripper servo Sim enable/disable" name="SIM_SPR_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Sprayer pump pin" name="SIM_SPR_PUMP" documentation="The pin number that the Sprayer pump is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
<param humanName="Sprayer spinner servo pin" name="SIM_SPR_SPIN" documentation="The pin number that the Sprayer spinner servo is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="SPRAYER_">
<param humanName="Sprayer enable/disable" name="SPRAYER_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pump speed" name="SPRAYER_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Spinner rotation speed" name="SPRAYER_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Speed minimum" name="SPRAYER_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pump speed minimum" name="SPRAYER_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="SR0_">
<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR0_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR1_">
<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR1_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR2_">
<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR2_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR3_">
<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR3_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SRTL_">
<param humanName="SmartRTL accuracy" name="SRTL_ACCURACY" documentation="SmartRTL accuracy. The minimum distance between points." user="Advanced">
<field name="Range">0 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SmartRTL maximum number of points on path" name="SRTL_POINTS" documentation="SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL.  100 points consumes about 3k of memory." user="Advanced">
<field name="Range">0 500</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="STAT">
<param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
<field name="ReadOnly">True</field>
</param>
<param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Statistics Reset Time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="VISO">
<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">MAV</value>
</values>
</param>
<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 2">Right</value>
<value code=" 4">Back</value>
<value code=" 6">Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="WENC">
<param humanName="WheelEncoder type" name="WENC_TYPE" documentation="What type of WheelEncoder is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder counts per revolution" name="WENC_CPR" documentation="WheelEncoder counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel radius" name="WENC_RADIUS" documentation="Wheel radius" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's X position offset" name="WENC_POS_X" documentation="X position of the center of the wheel in body frame. Positive X is forward of the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Y position offset" name="WENC_POS_Y" documentation="Y position of the center of the wheel in body frame. Positive Y is to the right of the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Z position offset" name="WENC_POS_Z" documentation="Z position of the center of the wheel in body frame. Positive Z is down from the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Input Pin A" name="WENC_PINA" documentation="Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Input Pin B" name="WENC_PINB" documentation="Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second WheelEncoder type" name="WENC2_TYPE" documentation="What type of WheelEncoder sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder 2 counts per revolution" name="WENC2_CPR" documentation="WheelEncoder 2 counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel2's radius" name="WENC2_RADIUS" documentation="Wheel2's radius" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's X position offset" name="WENC2_POS_X" documentation="X position of the center of the second wheel in body frame. Positive X is forward of the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Y position offset" name="WENC2_POS_Y" documentation="Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Z position offset" name="WENC2_POS_Z" documentation="Z position of the center of the second wheel in body frame. Positive Z is down from the origin." user="Standard">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Second Encoder Input Pin A" name="WENC2_PINA" documentation="Second Encoder Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second Encoder Input Pin B" name="WENC2_PINB" documentation="Second Encoder Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="WNDVN_">
<param humanName="Wind Vane Type" name="WNDVN_TYPE" documentation="Wind Vane type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Heading when armed</value>
<value code="2">RC input offset heading when armed</value>
<value code="3">Analog</value>
<value code="4">NMEA</value>
<value code="10">SITL</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Wind vane sensor RC Input Channel" name="WNDVN_RC_IN_NO" documentation="RC Input Channel to use as wind angle value" user="Standard">
<field name="Range">0 16</field>
<field name="Increment">1</field>
</param>
<param humanName="Wind vane analog voltage pin for direction" name="WNDVN_DIR_PIN" documentation="Analog input pin to read as wind vane direction" user="Standard">
<values>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="15">Pixhawk2 ADC</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Wind vane voltage minimum" name="WNDVN_DIR_V_MIN" documentation="Minimum voltage supplied by analog wind vane" user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Wind vane voltage maximum" name="WNDVN_DIR_V_MAX" documentation="Maximum voltage supplied by analog wind vane" user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Wind vane headwind offset" name="WNDVN_DIR_OFS" documentation="Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Wind vane direction low pass filter frequency" name="WNDVN_DIR_FILT" documentation="Wind vane direction low pass filter frequency, a value of -1 disables filter" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Wind vane calibration start" name="WNDVN_CAL" documentation="Start wind vane calibration by setting this to 1 or 2" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Calibrate direction</value>
<value code=" 2">Calibrate speed</value>
</values>
</param>
<param humanName="Wind vane deadzone when using analog sensor" name="WNDVN_DIR_DZ" documentation="Wind vane deadzone when using analog sensor" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Wind vane cut off wind speed" name="WNDVN_SPEED_MIN" documentation="Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present).  If the apparent wind is consistently below this value the vane will not work" user="Standard">
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Wind speed sensor Type" name="WNDVN_SPEED_TYPE" documentation="Wind speed sensor type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Airspeed library</value>
<value code="2">Modern Devices Wind Sensor</value>
<value code="3">RPM library</value>
<value code="4">NMEA</value>
<value code="10">SITL</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Wind vane speed sensor analog pin" name="WNDVN_SPEED_PIN" documentation="Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p" user="Standard">
<values>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="15">Pixhawk2 ADC</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Wind vane speed sensor analog temp pin" name="WNDVN_TEMP_PIN" documentation="Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings" user="Standard">
<values>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="15">Pixhawk2 ADC</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Wind speed sensor analog voltage offset" name="WNDVN_SPEED_OFS" documentation="Wind sensor analog voltage offset at zero wind speed" user="Standard">
<field name="Range">0 3.3</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Wind speed low pass filter frequency" name="WNDVN_SPEED_FILT" documentation="Wind speed low pass filter frequency, a value of -1 disables filter" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="WP_">
<param humanName="Waypoint speed default" name="WP_SPEED" documentation="Waypoint speed default" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Waypoint radius" name="WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Waypoint overshoot maximum" name="WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
<field name="Range">0 10</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Waypoint Pivot Angle" name="WP_PIVOT_ANGLE" documentation="Pivot when the difference bewteen the vehicle's heading and it's target heading is more than this many degrees.  Set to zero to disable pivot turns" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Waypoint Pivot Turn Rate" name="WP_PIVOT_RATE" documentation="Turn rate during pivot turns" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Waypoint speed minimum" name="WP_SPEED_MIN" documentation="Vehicle will not slow below this speed for corners.  Should be set to boat's plane speed.  Does not apply to pivot turns." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
</parameters>
<parameters name="WRC">
<param humanName="Wheel rate control enable/disable" name="WRC_ENABLE" documentation="Enable or disable wheel rate control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Wheel max rotation rate" name="WRC_RATE_MAX" documentation="Wheel max rotation rate" user="Standard">
<field name="Range">0 200</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Wheel rate control feed forward gain" name="WRC_RATE_FF" documentation="Wheel rate control feed forward gain.  Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Wheel rate control P gain" name="WRC_RATE_P" documentation="Wheel rate control P gain.  Converts rate error (in radians/sec) to output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Wheel rate control I gain" name="WRC_RATE_I" documentation="Wheel rate control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Wheel rate control I gain maximum" name="WRC_RATE_IMAX" documentation="Wheel rate control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
</param>
<param humanName="Wheel rate control D gain" name="WRC_RATE_D" documentation="Wheel rate control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Wheel rate control filter frequency" name="WRC_RATE_FILT" documentation="Wheel rate control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Wheel rate control feed forward gain" name="WRC2_RATE_FF" documentation="Wheel rate control feed forward gain.  Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Wheel rate control P gain" name="WRC2_RATE_P" documentation="Wheel rate control P gain.  Converts rate error (in radians/sec) to output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Wheel rate control I gain" name="WRC2_RATE_I" documentation="Wheel rate control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Wheel rate control I gain maximum" name="WRC2_RATE_IMAX" documentation="Wheel rate control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
</param>
<param humanName="Wheel rate control D gain" name="WRC2_RATE_D" documentation="Wheel rate control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Wheel rate control filter frequency" name="WRC2_RATE_FILT" documentation="Wheel rate control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
</libraries></paramfile>
