<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduSub">
<param humanName="Depth reading at surface" name="ArduSub:SURFACE_DEPTH" documentation="The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)" user="Standard">
<field name="Range">-100 0</field>
</param>
<param humanName="Eeprom format version number" name="ArduSub:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Software Type" name="ArduSub:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
<values>
<value code="0">ArduPlane</value>
<value code="4">AntennaTracker</value>
<value code="10">Copter</value>
<value code="20">Rover</value>
<value code="40">ArduSub</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="ArduSub:SYSID_THISMAV" 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="My ground station number" name="ArduSub:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
<values>
<value code="255">Mission Planner and DroidPlanner</value>
<value code=" 252"> AP Planner 2</value>
</values>
</param>
<param humanName="CLI Enable" name="ArduSub:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle filter cutoff" name="ArduSub:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduSub:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="Rangefinder gain" name="ArduSub:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Battery Failsafe Enable" name="ArduSub:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Land</value>
<value code="2">RTL</value>
</values>
</param>
<param humanName="Failsafe battery voltage" name="ArduSub:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
<field name="Increment">0.1</field>
<field name="Units">Volts</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduSub:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Disarm</value>
<value code="3">Enter depth hold mode</value>
<value code="4">Enter surface mode</value>
</values>
</param>
<param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Enter surface mode</value>
</values>
</param>
<param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
</values>
</param>
<param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
</values>
</param>
<param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
<field name="Units">Pascal</field>
</param>
<param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
<field name="Units">Degrees Centigrade</field>
</param>
<param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
<values>
<value code="0">Disarm</value>
<value code=" 1">Hold Position</value>
<value code=" 2">Surface</value>
</values>
</param>
<param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
<field name="Range">10 90</field>
</param>
<param humanName="GPS Hdop Good" name="ArduSub:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
<field name="Range">100 900</field>
</param>
<param humanName="Compass enable/disable" name="ArduSub:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Yaw behaviour during missions" name="ArduSub:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
<value code=" 3">Face along GPS course</value>
</values>
</param>
<param humanName="Pilot maximum vertical speed" name="ArduSub:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">Centimeters/Second</field>
</param>
<param humanName="Pilot vertical acceleration" name="ArduSub:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Throttle deadzone" name="ArduSub:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">pwm</field>
</param>
<param humanName="Flight Mode 1" name="ArduSub:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Flight Mode 2" name="ArduSub:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Flight Mode 3" name="ArduSub:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Flight Mode 4" name="ArduSub:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Flight Mode 5" name="ArduSub:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Flight Mode 6" name="ArduSub:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="2">DepthHold</value>
<value code="19">Manual</value>
</values>
</param>
<param humanName="Log bitmask" name="ArduSub:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
<values>
<value code="830">Default</value>
<value code="894">Default+RCIN</value>
<value code="958">Default+IMU</value>
<value code="1854">Default+Motors</value>
<value code="-6146">NearlyAll-AC315</value>
<value code="45054">NearlyAll</value>
<value code="131071">All+FastATT</value>
<value code="262142">All+MotBatt</value>
<value code="393214">All+FastIMU</value>
<value code="397310">All+FastIMU+PID</value>
<value code="655358">All+FullIMU</value>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="ESC Calibration" name="ArduSub:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
<values>
<value code="0">Normal Start-up</value>
<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
<value code=" 9">Disabled</value>
</values>
</param>
<param humanName="Channel 6 Tuning" name="ArduSub:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Stab Roll/Pitch kP</value>
<value code="4">Rate Roll/Pitch kP</value>
<value code="5">Rate Roll/Pitch kI</value>
<value code="21">Rate Roll/Pitch kD</value>
<value code="3">Stab Yaw kP</value>
<value code="6">Rate Yaw kP</value>
<value code="26">Rate Yaw kD</value>
<value code="14">Altitude Hold kP</value>
<value code="7">Throttle Rate kP</value>
<value code="34">Throttle Accel kP</value>
<value code="35">Throttle Accel kI</value>
<value code="36">Throttle Accel kD</value>
<value code="42">Loiter Speed</value>
<value code="12">Loiter Pos kP</value>
<value code="22">Velocity XY kP</value>
<value code="28">Velocity XY kI</value>
<value code="10">WP Speed</value>
<value code="25">Acro RollPitch kP</value>
<value code="40">Acro Yaw kP</value>
<value code="13">Heli Ext Gyro</value>
<value code="17">OF Loiter kP</value>
<value code="18">OF Loiter kI</value>
<value code="19">OF Loiter kD</value>
<value code="38">Declination</value>
<value code="39">Circle Rate</value>
<value code="41">RangeFinder Gain</value>
<value code="46">Rate Pitch kP</value>
<value code="47">Rate Pitch kI</value>
<value code="48">Rate Pitch kD</value>
<value code="49">Rate Roll kP</value>
<value code="50">Rate Roll kI</value>
<value code="51">Rate Roll kD</value>
<value code="52">Rate Pitch FF</value>
<value code="53">Rate Roll FF</value>
<value code="54">Rate Yaw FF</value>
</values>
</param>
<param humanName="Tuning minimum" name="ArduSub:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Tuning maximum" name="ArduSub:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Channel 7 option" name="ArduSub:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Channel 8 option" name="ArduSub:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Channel 9 option" name="ArduSub:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Channel 10 option" name="ArduSub:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Channel 11 option" name="ArduSub:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Channel 12 option" name="ArduSub:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
</values>
</param>
<param humanName="Arming check" name="ArduSub:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage</field>
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
<value code=" -3">Skip Baro</value>
<value code=" -5">Skip Compass</value>
<value code=" -9">Skip GPS</value>
<value code=" -17">Skip INS</value>
<value code=" -33">Skip Params/Rangefinder</value>
<value code=" -65">Skip RC</value>
<value code=" 127">Skip Voltage</value>
</values>
</param>
<param humanName="Disarm delay" name="ArduSub:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Seconds</field>
</param>
<param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Range">1000 8000</field>
<field name="Units">Centi-degrees</field>
</param>
<param humanName="RC Feel Roll/Pitch" name="ArduSub:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
<field name="Range">0 100</field>
<values>
<value code="0">Very Soft</value>
<value code=" 25">Soft</value>
<value code=" 50">Medium</value>
<value code=" 75">Crisp</value>
<value code=" 100">Very Crisp</value>
</values>
<field name="Increment">10</field>
</param>
<param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="1">Land</value>
<value code=" 2">AltHold</value>
<value code=" 3">Land even in Stabilize</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="ArduSub: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="Crash check enable" name="ArduSub:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Default gain at boot" name="ArduSub:JS_GAIN_DEFAULT" documentation="Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]" user="Standard">
<field name="Range">0.1 1.0</field>
</param>
<param humanName="Maximum joystick gain" name="ArduSub:JS_GAIN_MAX" documentation="Maximum joystick gain" user="Standard">
<field name="Range">0.2 1.0</field>
</param>
<param humanName="Minimum joystick gain" name="ArduSub:JS_GAIN_MIN" documentation="Minimum joystick gain" user="Standard">
<field name="Range">0.1 0.8</field>
</param>
<param humanName="Gain steps" name="ArduSub:JS_GAIN_STEPS" documentation="Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Camera tilt step size" name="ArduSub:JS_CAM_TILT_STEP" documentation="Size of PWM increment on camera tilt servo" user="Standard">
<field name="Range">30 400</field>
</param>
<param humanName="Lights step size" name="ArduSub:JS_LIGHTS_STEP" documentation="Size of PWM increment on lights servo" user="Standard">
<field name="Range">30 400</field>
</param>
<param humanName="Throttle gain scalar" name="ArduSub:JS_THR_GAIN" documentation="Scalar for gain on the throttle channel" user="Standard">
<field name="Range">0.5 4.0</field>
</param>
<param humanName="Camera tilt mount center" name="ArduSub:CAM_CENTER" documentation="Servo PWM at camera center position" user="Standard">
<field name="Range">1000 2000</field>
</param>
<param humanName="ESC Update Speed" name="ArduSub:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Acro Roll and Pitch P gain" name="ArduSub:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Yaw P gain" name="ArduSub:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Balance Roll" name="ArduSub:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduSub:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Trainer" name="ArduSub:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
<param humanName="Acro Expo" name="ArduSub:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
<param humanName="Velocity (horizontal) P gain" name="ArduSub:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) I gain" name="ArduSub:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_FILT_HZ" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Velocity (vertical) P gain" name="ArduSub:VEL_Z_P" documentation="Velocity (vertical) 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">1.000 8.000</field>
</param>
<param humanName="Throttle acceleration controller P gain" name="ArduSub:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
<field name="Range">0.500 1.500</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Throttle acceleration controller I gain" name="ArduSub:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
<field name="Range">0.000 3.000</field>
</param>
<param humanName="Throttle acceleration controller I gain maximum" name="ArduSub:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Throttle acceleration controller D gain" name="ArduSub:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Throttle acceleration filter" name="ArduSub:ACCEL_Z_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position (vertical) controller P gain" name="ArduSub:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
<field name="Range">1.000 3.000</field>
</param>
<param humanName="Position (horizonal) controller P gain" name="ArduSub:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
<field name="Range">0.500 2.000</field>
</param>
<param humanName="Autotune axis bitmask" name="ArduSub:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="7">All</value>
<value code="1">Roll Only</value>
<value code="2">Pitch Only</value>
<value code="4">Yaw Only</value>
<value code="3">Roll and Pitch</value>
<value code="5">Roll and Yaw</value>
<value code="6">Pitch and Yaw</value>
</values>
</param>
<param humanName="Autotune aggressiveness" name="ArduSub:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
<field name="Range">0.05 0.10</field>
</param>
<param humanName="AutoTune minimum D" name="ArduSub:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</param>
<param humanName="Terrain Following use control" name="ArduSub:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
<values>
<value code="0">Do Not Use in RTL and Land</value>
<value code="1">Use in RTL and Land</value>
</values>
</param>
<param humanName="Minimum navigation altitude" name="ArduSub:WP_NAVALT_MIN" documentation="This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing." user="Standard">
<field name="Range">0 5</field>
</param>
</parameters>
</vehicles><libraries><parameters name="SERIAL">
<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="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>
</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">Lidar</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 12">Aerotenna uLanding</value>
<value code=" 13">Pozyx Beacon</value>
</values>
</param>
<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="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">Lidar</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 12">Aerotenna uLanding</value>
<value code=" 13">Pozyx Beacon</value>
</values>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="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">Lidar</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 12">Aerotenna uLanding</value>
<value code=" 13">Pozyx Beacon</value>
</values>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="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">Lidar</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 12">Aerotenna uLanding</value>
<value code=" 13">Pozyx Beacon</value>
</values>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="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">Lidar</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 12">Aerotenna uLanding</value>
<value code=" 13">Pozyx Beacon</value>
</values>
</param>
<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
</parameters>
<parameters name="RC1_">
<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
</parameters>
<parameters name="RC2_">
<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
</parameters>
<parameters name="RC3_">
<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
</parameters>
<parameters name="RC4_">
<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
</parameters>
<parameters name="RC5_">
<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC6_">
<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC7_">
<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC8_">
<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC9_">
<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC10_">
<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC11_">
<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC12_">
<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC13_">
<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="RC14_">
<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. 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>
</param>
<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. 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>
</param>
<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. 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>
</param>
<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
<values>
<value code="-1">Reversed</value>
<value code="1">Normal</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting 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">DifferentialSpoiler1</value>
<value code="17">DifferentialSpoiler2</value>
<value code="18">AileronWithInput</value>
<value code="19">Elevator</value>
<value code="20">ElevatorWithInput</value>
<value code="21">Rudder</value>
<value code="24">Flaperon1</value>
<value code="25">Flaperon2</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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>
</values>
</param>
</parameters>
<parameters name="BTN0_">
<param humanName="Function for button" name="BTN0_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN1_">
<param humanName="Function for button" name="BTN1_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN1_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN2_">
<param humanName="Function for button" name="BTN2_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN2_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN3_">
<param humanName="Function for button" name="BTN3_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN3_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN4_">
<param humanName="Function for button" name="BTN4_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN4_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN5_">
<param humanName="Function for button" name="BTN5_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN5_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN6_">
<param humanName="Function for button" name="BTN6_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN6_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN7_">
<param humanName="Function for button" name="BTN7_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN7_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN8_">
<param humanName="Function for button" name="BTN8_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN8_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN9_">
<param humanName="Function for button" name="BTN9_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN9_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN10_">
<param humanName="Function for button" name="BTN10_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN10_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN11_">
<param humanName="Function for button" name="BTN11_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN11_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN12_">
<param humanName="Function for button" name="BTN12_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN12_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN13_">
<param humanName="Function for button" name="BTN13_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN13_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN14_">
<param humanName="Function for button" name="BTN14_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN14_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
</parameters>
<parameters name="BTN15_">
<param humanName="Function for button" name="BTN15_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN15_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_toggle</value>
<value code="6">enter_mode_1</value>
<value code="7">enter_mode_2</value>
<value code="8">enter_mode_3</value>
<value code="9">enter_mode_4</value>
<value code="10">enter_mode_5</value>
<value code="11">enter_mode_6</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="52">relay_2_on</value>
<value code="53">relay_2_off</value>
<value code="54">relay_2_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
</values>
</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">seconds</field>
</param>
<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">pwm</field>
</param>
<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">pwm</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">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">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">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. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PX4 AUX1</value>
<value code="51">PX4 AUX2</value>
<value code="52">PX4 AUX3</value>
<value code="53">PX4 AUX4(fast capture)</value>
<value code="54">PX4 AUX5</value>
<value code="55">PX4 AUX6</value>
</values>
</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>
</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="13">APM2 A9 pin</value>
<value code="47">APM1 relay</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="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</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="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</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="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</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="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>
</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">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">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">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">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." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Internal-Learning</value>
<value code="2">EKF-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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</field>
</param>
<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." 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">Roll270Yaw136</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">Yaw293Pitch68Roll90</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">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">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">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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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. Normally 0=External, 1=Internal. 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">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">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">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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</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" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">Offset per Amp or at Full Throttle</field>
</param>
<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
</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 the second compass relative to the frame (if external) or autopilot board (if internal)." 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">Roll270Yaw136</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">Yaw293Pitch68Roll90</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 the third compass relative to the frame (if external) or autopilot board (if internal)." 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">Roll270Yaw136</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">Yaw293Pitch68Roll90</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">Default</value>
<value code="16">Relaxed</value>
<value code="32">Very Relaxed</value>
</values>
<field name="Increment">0.1</field>
</param>
</parameters>
<parameters name="INS_">
<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="unused" user="Advanced">
</param>
<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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</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. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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">
</param>
</parameters>
<parameters name="WPNAV_">
<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
<field name="Range">0 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
</param>
<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
<field name="Range">100 1000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
</param>
<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
</param>
<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
</param>
<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
<field name="Range">0 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
</param>
<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
<field name="Range">500 5000</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s/s</field>
</param>
<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
<field name="Range">100 981</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
<field name="Range">25 250</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls the use of a rangefinder for terrain following" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
</parameters>
<parameters name="CIRCLE_">
<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
<field name="Range">0 10000</field>
<field name="Increment">100</field>
<field name="Units">cm</field>
</param>
<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
</param>
</parameters>
<parameters name="ATC_">
<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
<field name="Range">500 18000</field>
<field name="Increment">100</field>
<field name="Units">Centi-Degrees/Sec</field>
</param>
<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
<field name="Range">0 72000</field>
<values>
<value code="0">Disabled</value>
<value code=" 18000">Slow</value>
<value code=" 36000">Medium</value>
<value code=" 54000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
<field name="Range">0 72000</field>
<values>
<value code="0">Disabled</value>
<value code=" 18000">Slow</value>
<value code=" 36000">Medium</value>
<value code=" 54000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
<field name="Range">3.000 12.000</field>
</param>
<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
<field name="Range">3.000 12.000</field>
</param>
<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
<field name="Range">3.000 6.000</field>
</param>
<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
<field name="Range">0.5 10.0</field>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
<field name="Range">0.08 0.30</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
<field name="Range">0.08 0.30</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
<field name="Range">0.10 0.50</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.010 0.05</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.000 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.1 0.25</field>
</param>
<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.5 0.9</field>
</param>
</parameters>
<parameters name="PSC">
<param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
<field name="Range">0.5 5</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
</param>
</parameters>
<parameters name="SR0_">
<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
</parameters>
<parameters name="SR1_">
<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
</parameters>
<parameters name="SR2_">
<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
</parameters>
<parameters name="SR3_">
<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
</parameters>
<parameters name="AHRS_">
<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how 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." 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>
</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">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">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">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">Roll270Yaw136</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>
</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 whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters "disabled" is not available, and will be the same as "enabled - no fallback"' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Enable EKF2</value>
</values>
</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">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">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">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">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">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">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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">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">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">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">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">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">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">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">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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">Centi-Degrees</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">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">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="LOG">
<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
<values>
<value code="0">None</value>
<value code="1">File</value>
<value code="2">MAVLink</value>
<value code="3">BothFileAndMAVLink</value>
</values>
</param>
<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_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>
</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">SMBus</value>
<value code="6">Bebop</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk</value>
<value code=" 13">A13</value>
<value code=" 100">PX4</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk</value>
<value code=" 12">A12</value>
<value code=" 101">PX4</value>
</values>
</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 on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or 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">Amps/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">Volts</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>
</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">Watts</field>
</param>
<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">SMBus</value>
<value code="6">Bebop</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk</value>
<value code=" 13">A13</value>
<value code=" 100">PX4</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk</value>
<value code=" 12">A12</value>
<value code=" 101">PX4</value>
</values>
</param>
<param humanName="Voltage Multiplier" name="BATT2_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 on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or 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">Amps/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">Volts</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>
</param>
<param humanName="Maximum allowed current" 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">Amps</field>
</param>
</parameters>
<parameters name="BRD_">
<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
<values>
<value code="0">No PWMs</value>
<value code="2">Two PWMs</value>
<value code="4">Four PWMs</value>
<value code="6">Six PWMs</value>
<value code="7">Three PWMs and One Capture</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 PX4. 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">-32767 32768</field>
</param>
<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Dynamic ID/Update</value>
</values>
</param>
<param humanName="Channels to 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. A value of -1 disables heating." user="Advanced">
<field name="Range">-1 80</field>
<field name="Units">degreesC</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">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>
</values>
<field name="RebootRequired">True</field>
</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">pascals</field>
</param>
<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">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">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" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Bus0</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. Set to 1.0 for freshwater or 1.024 for saltwater">
<field name="Values">1.0:Fresh Water, 1.024:Salt Water</field>
</param>
<param humanName="Base Pressure (For water depth measurement)" name="GND_BASE_PRESS" documentation="Base diving pressure. This is the ambient air pressure at launch site, and is persistent between boots.">
<field name="Units">pascals</field>
</param>
<param humanName="Reset Base Pressure (For water depth measurement)" name="GND_BASE_RESET" documentation="Set to 1 (reset) to reset base pressure on next boot">
<values>
<value code="0">Keep</value>
<value code=" 1">Reset</value>
</values>
<field name="RebootRequired">True</field>
</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">PX4-UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="12">QURT</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</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">PX4-UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</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">Enabled</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">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="0x0000">None</value>
<value code=" 0xFFFF">All</value>
<value code=" 0xFF00">External only</value>
</values>
</param>
<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">log every sample</value>
<value code="5">log every 5 samples</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">
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
</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">
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</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="Units">m</field>
</param>
</parameters>
<parameters name="LEAK">
<param humanName="Pin that leak detector is connected to" name="LEAK1_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk Aux1</value>
<value code="51">Pixhawk Aux2</value>
<value code="52">Pixhawk Aux3</value>
<value code="53">Pixhawk Aux4</value>
<value code="54">Pixhawk Aux5</value>
<value code="55">Pixhawk Aux6</value>
<value code="13">Pixhawk 3.3ADC1</value>
<value code="14">Pixhawk 3.3ADC2</value>
<value code="15">Pixhawk 6.6ADC</value>
</values>
</param>
<param humanName="Default reading of leak detector when dry" name="LEAK1_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Pin that leak detector is connected to" name="LEAK2_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk Aux1</value>
<value code="51">Pixhawk Aux2</value>
<value code="52">Pixhawk Aux3</value>
<value code="53">Pixhawk Aux4</value>
<value code="54">Pixhawk Aux5</value>
<value code="55">Pixhawk Aux6</value>
<value code="13">Pixhawk 3.3ADC1</value>
<value code="14">Pixhawk 3.3ADC2</value>
<value code="15">Pixhawk 6.6ADC</value>
</values>
</param>
<param humanName="Default reading of leak detector when dry" name="LEAK2_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Pin that leak detector is connected to" name="LEAK3_PIN" documentation="Pin that the leak detector is connected to" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk Aux1</value>
<value code="51">Pixhawk Aux2</value>
<value code="52">Pixhawk Aux3</value>
<value code="53">Pixhawk Aux4</value>
<value code="54">Pixhawk Aux5</value>
<value code="55">Pixhawk Aux6</value>
<value code="13">Pixhawk 3.3ADC1</value>
<value code="14">Pixhawk 3.3ADC2</value>
<value code="15">Pixhawk 6.6ADC</value>
</values>
</param>
<param humanName="Default reading of leak detector when dry" name="LEAK3_LOGIC" documentation="Default reading of leak detector when dry" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</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" 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="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>
</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">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">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">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 Maximum Depth" name="FENCE_DEPTH_MAX" documentation="Maximum depth allowed before geofence triggers" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
</parameters>
<parameters name="AVOID_">
<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
<field name="Bitmask">0:StopAtFence,1:UseProximitySensor</field>
<values>
<value code="0">None</value>
<value code="1">StopAtFence</value>
<value code="2">UseProximitySensor</value>
<value code="3">All</value>
</values>
</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">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="MOT_">
<param humanName="Motor normal or reverse" name="MOT_1_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_2_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_3_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_4_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_5_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_6_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_7_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Motor normal or reverse" name="MOT_8_DIRECTION" documentation="Used to change motor rotation directions without changing wires" user="Standard">
<values>
<value code="1">normal</value>
<value code="-1">reverse</value>
</values>
</param>
<param humanName="Forward/vertical to pitch decoupling factor" name="MOT_FV_CPLNG_K" documentation="Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal" user="Standard">
<field name="Range">0.0 1.5</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm range" user="Advanced">
<field name="Range">0 500</field>
<field name="Units">pwm</field>
</param>
<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
<field name="Range">0.25 0.8</field>
</param>
<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
</param>
<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">Volts</field>
</param>
<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">Volts</field>
</param>
<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">Amps</field>
</param>
<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output" user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed16kHz</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
<field name="Range">0 2000</field>
</param>
<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
<field name="Range">0 2000</field>
</param>
<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
</param>
<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
</param>
<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
<field name="Range">0 10</field>
<field name="Units">Seconds</field>
</param>
<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
<field name="Range">0.2 0.8</field>
</param>
<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Learn</value>
<value code=" 2">LearnAndSave</value>
</values>
</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>
</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="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="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="EKF_">
<param humanName="Enable EKF1" name="EKF_ENABLE" documentation="This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude 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">meters</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" 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>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This 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>
</param>
<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This 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">0.001 0.05</field>
<field name="Increment">0.001</field>
<field name="Units">rad/s</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This 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">0.05 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.0000001 0.00001</field>
<field name="Units">rad/s</field>
</param>
<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">gauss/s</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">gauss/s</field>
</param>
<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">milliseconds</field>
</param>
<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">milliseconds</field>
</param>
<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" 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 use optical flow</value>
</values>
</param>
<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
<values>
<value code="0">Speed and Height</value>
<value code="1">Acceleration</value>
<value code="2">Never</value>
<value code="3">Always</value>
</values>
</param>
<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
<field name="Range">100 500</field>
<field name="Increment">50</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">meters</field>
</param>
<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values cause the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
<field name="Range">1 50</field>
<field name="Increment">1</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" 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>
</param>
<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EKF_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">0 500</field>
<field name="Increment">10</field>
<field name="Units">milliseconds</field>
</param>
<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the 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">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter 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>
</param>
<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
<values>
<value code="0">Trust EKF more</value>
<value code=" 1">Trust DCM more</value>
</values>
</param>
<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will cause it to use range finder if available." user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
</values>
</param>
<param humanName="GPS preflight check" name="EKF_GPS_CHECK" documentation="1 byte bitmap of GPS preflight checks to perform. 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:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</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>
</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>
</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>
</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 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>
</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>
</param>
<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">msec</field>
</param>
<param humanName="Primary height source" name="EK2_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. 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>
</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>
</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">msec</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>
</param>
<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." 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>
</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>
</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>
</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>
</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">0 250</field>
<field name="Increment">10</field>
<field name="Units">msec</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>
</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>
</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>
</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">1/s</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 0.001</field>
<field name="Units">m/s/s/s</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>
</param>
<param humanName="Height rate to wind procss 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:horiz pos 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="Range">1 127</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>
</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/s</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">
<values>
<value code="0">Disabled</value>
<value code="1">FirstIMU</value>
<value code="3">FirstAndSecondIMU</value>
<value code="7">AllIMUs</value>
</values>
</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">gauss</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>
</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>
</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>
</param>
<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
</param>
<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maxium 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="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>
</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">0 250</field>
<field name="Increment">10</field>
<field name="Units">msec</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="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>
</parameters>
<parameters name="RNGFND">
<param humanName="Rangefinder type" name="RNGFND_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">PulsedLightI2C</value>
<value code="4">PX4-I2C</value>
<value code="5">PX4-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>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. 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=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND_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">meters/Volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND_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">Volts</field>
</param>
<param humanName="Rangefinder function" name="RNGFND_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="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog 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 can be used to ensure that multiple sonar rangefinders don't interfere with each other." 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="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
<field name="Increment">1</field>
<field name="Units">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND_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="RNGFND_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">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_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">0 127</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor 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="RNGFND_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>
</param>
<param humanName="Y position offset" name="RNGFND_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>
</param>
<param humanName="Z position offset" name="RNGFND_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>
</param>
<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">PulsedLightI2C</value>
<value code="4">PX4-I2C</value>
<value code="5">PX4-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>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-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="Advanced">
<field name="Increment">0.001</field>
<field name="Units">meters/Volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">Volts</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="Advanced">
<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="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog 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 can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<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="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">milliseconds</field>
</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="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<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 second 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>
</param>
<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the second 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>
</param>
<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second 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>
</param>
<param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">APM2-MaxbotixI2C</value>
<value code="3">APM2-PulsedLightI2C</value>
<value code="4">PX4-I2C</value>
<value code="5">PX4-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>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-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="Advanced">
<field name="Increment">0.001</field>
<field name="Units">meters/Volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">Volts</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="Advanced">
<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="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog 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 can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<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="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">milliseconds</field>
</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="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<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 third 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>
</param>
<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the third 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>
</param>
<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third 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>
</param>
<param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">APM2-MaxbotixI2C</value>
<value code="3">APM2-PulsedLightI2C</value>
<value code="4">PX4-I2C</value>
<value code="5">PX4-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>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-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="Advanced">
<field name="Increment">0.001</field>
<field name="Units">meters/Volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">Volts</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="Advanced">
<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="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog 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 can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<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="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">milliseconds</field>
</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="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<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 fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
</param>
<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
</param>
<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
</param>
</parameters>
<parameters name="TERRAIN_">
<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed." user="Advanced">
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
</parameters>
<parameters name="FLOW">
<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
<field name="Range">-18000 +18000</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
</param>
<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
</param>
<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
</param>
<param humanName="ID on the bus" name="FLOW_BUS_ID" documentation="This is used to select between multiple possible bus IDs for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
<field name="Range">0 255</field>
</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>
</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="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>
</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>
</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. Only for Linux and PX4 based boards." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</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>
</values>
</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>
</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>
</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>
</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>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Range">0 45</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</values>
</param>
<param humanName="Second Proximity sensor orientation" name="PRX_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="PRX_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</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 sent to Gripper to initiate grabbing the cargo" user="Advanced">
<field name="Range">1000 2000</field>
</param>
<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value sent to Gripper to release the cargo" user="Advanced">
<field name="Range">1000 2000</field>
</param>
<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value sent to grabber when not grabbing or releasing" user="Advanced">
<field name="Range">1000 2000</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="Values">0 255</field>
<field name="Units">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>
</libraries></paramfile>
