arduplane.pdef.xml

<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduPlane">
<param humanName="USB Console Baud Rate" name="ArduPlane:SERIAL0_BAUD" documentation="The baud rate used on the main uart" 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>
</values>
</param>
<param humanName="Telemetry Baud Rate" name="ArduPlane:SERIAL3_BAUD" documentation="The baud rate used on the telemetry port" 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>
</values>
</param>
<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Pitch Compensation" name="ArduPlane:KFF_PTCHCOMP" documentation="Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100%" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch to Throttle Mix" name="ArduPlane:KFF_PTCH2THR" documentation="Pitch to throttle feed-forward gain." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">FBWMixing</value>
<value code="2">DirectMixing</value>
</values>
</param>
<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s before un-suppressing throttle in auto-takeoff. This is meant to be used for catapult launches where you want the motor to engage only after the plane leaves the catapult. Note that the GPS velocity will lag the real velocity by about 0.5seconds." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before un-suppressing throttle in auto-takeoff. This is meant to be used for hand launches with a tractor style (front engine) plane. If this is set then the auto takeoff will only trigger if the pitch of the plane is between -30 and +45 degrees, and the roll is less than 30 degrees. This makes it less likely it will trigger due to carrying the plane with the nose down." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Landing Pitch" name="ArduPlane:land_pitch_cd" documentation="Used in autoland for planes without airspeed sensors in hundredths of a degree" user="Advanced">
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Landing flare altitude" name="ArduPlane:land_flare_alt" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch" user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Landing flare time" name="ArduPlane:land_flare_sec" documentation="Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch" user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable" user="Standard">
<values>
<value code="0">Legacy</value>
<value code="1">L1Controller</value>
</values>
</param>
<param humanName="Attitude controller selection" name="ArduPlane:ATT_CONTROLLER" documentation="Which attitude (roll, pitch, yaw) controller to enable" user="Standard">
<values>
<value code="0">PID</value>
<value code="1">APMControl</value>
</values>
</param>
<param humanName="Gps to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is to select the algorithm based on whether airspeed is enabled. If you set it to 1, then the airspeed based algorithm won't be used for altitude control, but airspeed can be used for other flight control functions" user="Advanced">
<values>
<value code="0">Default Method</value>
<value code="1">non-airspeed</value>
</values>
</param>
<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission, or to adjust for barometric pressure changes" user="Advanced">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
<field name="Range">1 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
<field name="Range">1 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach" user="Standard">
<values>
<value code="0">None</value>
<value code="1">GuidedMode</value>
<value code="2">ReportOnly</value>
</values>
</param>
<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Standard">
</param>
<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
</param>
<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Fly By Wire Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="Airspeed corresponding to minimum throttle in Fly By Wire B mode." user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Fly By Wire Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="Airspeed corresponding to maximum throttle in Fly By Wire B mode." user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
<field name="Range">1-10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE or FBWA mode the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
</param>
<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle to higher or lower values" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (1 second) failsafe event" user="Standard">
<values>
<value code="0">None</value>
<value code="1">ReturnToLaunch</value>
</values>
</param>
<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (20 second) failsafe event" user="Standard">
<values>
<value code="0">None</value>
<value code="1">ReturnToLaunch</value>
</values>
</param>
<param humanName="Failsafe battery voltage" name="ArduPlane: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 plane will RTL" user="Standard">
<field name="Units">Volts</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduPlane: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 plane will RTL" user="Standard">
<field name="Units">mAh</field>
</param>
<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then either use a separate motor arming switch or remove the propeller in any ground testing." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
</param>
<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
<field name="Range">-9000 0</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Auto trim" name="ArduPlane:AUTO_TRIM" documentation="Set RC trim PWM levels to current levels when switching away from manual mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="Enable elevon mixing  on both input and output. To enable just output mixing see the ELEVON_OUTPUT option." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
<values>
<value code="-1">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
<values>
<value code="-1">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">UpUp</value>
<value code="2">UpDown</value>
<value code="3">DownUp</value>
<value code="4">DownDown</value>
</values>
</param>
<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">UpUp</value>
<value code="2">UpDown</value>
<value code="3">DownUp</value>
<value code="4">DownDown</value>
</values>
</param>
<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1902">Default</value>
<value code="2030">Default+IMU</value>
</values>
</param>
<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
</param>
<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
</param>
<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode" user="User">
<field name="Units">cm/s</field>
</param>
<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
<field name="Units">m/s</field>
</param>
<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
<field name="Units">cm/s</field>
</param>
<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
<field name="Units">centi-Degrees</field>
</param>
<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude" user="User">
<field name="Units">centimeters</field>
</param>
<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
<field name="Units">centimeters</field>
</param>
<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Apms per volt" name="ArduPlane:APM_PER_VOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to" user="Standard">
<field name="Units">A/V</field>
</param>
<param humanName="AMP offset" name="ArduPlane:AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">Volts</field>
</param>
<param humanName="Battery capacity" name="ArduPlane:BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
</param>
<param humanName="Battery Voltage sensing pin" name="ArduPlane:BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 13">A13</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="ArduPlane:BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 12">A12</value>
</values>
</param>
<param humanName="Receiver RSSI sensing pin" name="ArduPlane:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 13">A13</value>
</values>
</param>
<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Channel1</value>
<value code="2">Channel2</value>
<value code="3">Channel3</value>
<value code="4">Channel4</value>
<value code="5">Channel5</value>
<value code="6">Channel6</value>
<value code="7">Channel7</value>
<value code="8">Channel8</value>
</values>
</param>
<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="ArduCopter">
<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
</param>
<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
</param>
<param humanName="Mavlink version" name="ArduCopter:SYSID_THISMAV" documentation="Allows reconising the mavlink version" user="Advanced">
</param>
<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
</param>
<param humanName="Telemetry Baud Rate" name="ArduCopter:SERIAL3_BAUD" documentation="The baud rate used on the telemetry port" 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>
</values>
</param>
<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
<field name="Range">0 8000</field>
<field name="Increment">1</field>
<field name="Units">Centimeters</field>
</param>
<param humanName="Enable Sonar" name="ArduCopter:SONAR_ENABLE" documentation="Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Sonar type" name="ArduCopter:SONAR_TYPE" documentation="Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time)" user="Standard">
<values>
<value code="0">XL-EZ0 / XL-EZ4</value>
<value code="1">LV-EZ0</value>
<value code="2">XLL-EZ0</value>
<value code="3">HRLV</value>
</values>
</param>
<param humanName="Sonar gain" name="ArduCopter:SONAR_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 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Battery monitoring" name="ArduCopter:BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Voltage Only</value>
<value code="4">Voltage and Current</value>
</values>
</param>
<param humanName="Battery Failsafe Enable" name="ArduCopter: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">Enabled</value>
</values>
</param>
<param humanName="GPS Failsafe Enable" name="ArduCopter:FS_GPS_ENABLE" documentation="Controls whether failsafe will be invoked when gps signal is lost" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
</values>
</param>
<param humanName="Voltage Divider" name="ArduCopter:VOLT_DIVIDER" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin voltage * INPUT_VOLTS/1024 * VOLT_DIVIDER)" user="Advanced">
</param>
<param humanName="Current Amps per volt" name="ArduCopter:AMP_PER_VOLT" documentation="Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )" user="Advanced">
</param>
<param humanName="Battery Capacity" name="ArduCopter:BATT_CAPACITY" documentation="Battery capacity in milliamp-hours (mAh)" user="Standard">
<field name="Units">mAh</field>
</param>
<param humanName="Enable Compass" name="ArduCopter: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="Enable Optical Flow" name="ArduCopter: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="Low Voltage" name="ArduCopter:LOW_VOLT" documentation="Set this to the voltage you want to represent low voltage" user="Standard">
<field name="Range">0 20</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Enable Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
<field name="Range">-1 1000</field>
<field name="Increment">1</field>
<field name="Units">Centimeters</field>
</param>
<param humanName="Battery Voltage sensing pin" name="ArduCopter:BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 13">A13</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="ArduCopter:BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 12">A12</value>
</values>
</param>
<param humanName="Receiver RSSI sensing pin" name="ArduCopter:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 13">A13</value>
</values>
</param>
<param humanName="Enable Accel based throttle controller" name="ArduCopter:THR_ACC_ENABLE" documentation="This allows enabling and disabling the accelerometer based throttle controller.  If disabled a velocity based controller is used." user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Advanced">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
</values>
</param>
<param humanName="Waypoint Total" name="ArduCopter:WP_TOTAL" documentation="Total number of commands in the mission stored in the eeprom.  Do not update this parameter directly!" user="Advanced">
</param>
<param humanName="Waypoint Index" name="ArduCopter:WP_INDEX" documentation="The index number of the command that is currently being executed.  Do not update this parameter directly!" user="Advanced">
</param>
<param humanName="Circle radius" name="ArduCopter:CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
<field name="Range">1 127</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Circle rate" name="ArduCopter:CIRCLE_RATE" documentation="Circle mode's turn rate in degrees / second.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">Degrees / second</field>
</param>
<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before begining final descent" user="Standard">
<field name="Range">0 60000</field>
<field name="Increment">1000</field>
<field name="Units">ms</field>
</param>
<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
<field name="Range">20 200</field>
<field name="Increment">10</field>
<field name="Units">Centimeters/Second</field>
</param>
<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">10</field>
<field name="Units">Centimeters/Second</field>
</param>
<param humanName="Minimum Throttle" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
</param>
<param humanName="Maximum Throttle" name="ArduCopter:THR_MAX" documentation="The maximum throttle that will be sent to the motors" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
</param>
<param humanName="Throttle Trim" name="ArduCopter:TRIM_THROTTLE" documentation="The autopilot's estimate of the throttle required to maintain a level hover.  Calculated automatically from the pilot's throttle input while in stabilize mode" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">PWM</field>
</param>
<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
<field name="Range">300 700</field>
<field name="Increment">1</field>
</param>
<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="8">Position</value>
<value code="9">Land</value>
<value code="10">OF_Loiter</value>
<value code="11">ToyA</value>
<value code="12">ToyM</value>
</values>
</param>
<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="2 byte bitmap of log types to enable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="830">Default</value>
<value code="958">Default+IMU</value>
<value code="1854">Default+Motors</value>
<value code="17214">Default+INav</value>
</values>
</param>
<param humanName="Toy Yaw Rate" name="ArduCopter:TOY_RATE" documentation="Controls yaw rate in Toy mode.  Higher values will cause a slower yaw rate.  Do not set to zero!" user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="ESC Calibration" name="ArduCopter:ESC" 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</value>
</values>
</param>
<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
<values>
<value code="0">CH6_NONE</value>
<value code="1">CH6_STABILIZE_KP</value>
<value code="2">CH6_STABILIZE_KI</value>
<value code="3">CH6_YAW_KP</value>
<value code="4">CH6_RATE_KP</value>
<value code="5">CH6_RATE_KI</value>
<value code="6">CH6_YAW_RATE_KP</value>
<value code="7">CH6_THROTTLE_KP</value>
<value code="9">CH6_RELAY</value>
<value code="10">CH6_WP_SPEED</value>
<value code="12">CH6_LOITER_KP</value>
<value code="13">CH6_HELI_EXTERNAL_GYRO</value>
<value code="14">CH6_THR_HOLD_KP</value>
<value code="17">CH6_OPTFLOW_KP</value>
<value code="18">CH6_OPTFLOW_KI</value>
<value code="19">CH6_OPTFLOW_KD</value>
<value code="21">CH6_RATE_KD</value>
<value code="22">CH6_LOITER_RATE_KP</value>
<value code="23">CH6_LOITER_RATE_KD</value>
<value code="24">CH6_YAW_KI</value>
<value code="25">CH6_ACRO_KP</value>
<value code="26">CH6_YAW_RATE_KD</value>
<value code="27">CH6_LOITER_KI</value>
<value code="28">CH6_LOITER_RATE_KI</value>
<value code="29">CH6_STABILIZE_KD</value>
<value code="30">CH6_AHRS_YAW_KP</value>
<value code="31">CH6_AHRS_KP</value>
<value code="32">CH6_INAV_TC</value>
<value code="33">CH6_THROTTLE_KI</value>
<value code="34">CH6_THR_ACCEL_KP</value>
<value code="35">CH6_THR_ACCEL_KI</value>
<value code="36">CH6_THR_ACCEL_KD</value>
<value code="38">CH6_DECLINATION</value>
<value code="39">CH6_CIRCLE_RATE</value>
</values>
</param>
<param humanName="Tuning minimum" name="ArduCopter: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="ArduCopter: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="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
<values>
<value code="0">Plus</value>
<value code=" 1">X</value>
<value code=" 2">V</value>
<value code=" 3">H</value>
</values>
</param>
<param humanName="Channel 7 option" name="ArduCopter: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=" 8">Multi Mode</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">Sonar</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
</values>
</param>
<param humanName="Channel 8 option" name="ArduCopter: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=" 8">Multi Mode</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">Sonar</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
</values>
</param>
<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Rate Pitch Feed Forward" name="ArduCopter:RATE_PIT_FF" documentation="Rate Pitch Feed Forward (for TradHeli Only)" user="Standard">
<field name="Range">0 10</field>
</param>
<param humanName="Rate Roll Feed Forward" name="ArduCopter:RATE_RLL_FF" documentation="Rate Roll Feed Forward (for TradHeli Only)" user="Standard">
<field name="Range">0 10</field>
</param>
<param humanName="Rate Yaw Feed Forward" name="ArduCopter:RATE_YAW_FF" documentation="Rate Yaw Feed Forward (for TradHeli Only)" user="Standard">
<field name="Range">0 10</field>
</param>
<param humanName="ESC Update Speed" name="ArduCopter: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 P gain" name="ArduCopter:ACRO_P" documentation="Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Axis" name="ArduCopter:AXIS_ENABLE" documentation="Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode" user="Advanced">
<field name="Range">0 300</field>
<field name="Increment">1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode" user="Advanced">
<field name="Range">0 300</field>
<field name="Increment">1</field>
</param>
<param humanName="Acro Trainer Enabled" name="ArduCopter:ACRO_TRAINER" documentation="Set to 1 (Enabled) to make roll return to within 45 degrees of level automatically" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Copter LED Mode" name="ArduCopter:LED_MODE" documentation="bitmap to control the copter led mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enable</value>
<value code="2">GPS On</value>
<value code="4">Aux</value>
<value code="8">Buzzer</value>
<value code="16">Oscillate</value>
<value code="32">Nav Blink</value>
<value code="64">GPS Nav Blink</value>
</values>
</param>
<param humanName="Roll axis rate controller P gain" name="ArduCopter:RATE_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 0.20</field>
</param>
<param humanName="Roll axis rate controller I gain" name="ArduCopter:RATE_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>
</param>
<param humanName="Roll axis rate controller I gain maximum" name="ArduCopter:RATE_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">0 500</field>
<field name="Units">PWM</field>
</param>
<param humanName="Roll axis rate controller D gain" name="ArduCopter:RATE_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">0.001 0.008</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ArduCopter:RATE_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 0.20</field>
</param>
<param humanName="Pitch axis rate controller I gain" name="ArduCopter:RATE_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>
</param>
<param humanName="Pitch axis rate controller I gain maximum" name="ArduCopter:RATE_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">0 500</field>
<field name="Units">PWM</field>
</param>
<param humanName="Pitch axis rate controller D gain" name="ArduCopter:RATE_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">0.001 0.008</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ArduCopter:RATE_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">0.150 0.250</field>
</param>
<param humanName="Yaw axis rate controller I gain" name="ArduCopter:RATE_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 0.020</field>
</param>
<param humanName="Yaw axis rate controller I gain maximum" name="ArduCopter:RATE_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">0 500</field>
<field name="Units">PWM</field>
</param>
<param humanName="Yaw axis rate controller D gain" name="ArduCopter:RATE_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 0.001</field>
</param>
<param humanName="Loiter latitude rate controller P gain" name="ArduCopter:LOITER_LAT_P" documentation="Loiter latitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the latitude direction" user="Standard">
<field name="Range">2.000 6.000</field>
</param>
<param humanName="Loiter latitude rate controller I gain" name="ArduCopter:LOITER_LAT_I" documentation="Loiter latitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the latitude direction" user="Standard">
<field name="Range">0.020 0.060</field>
</param>
<param humanName="Loiter rate controller I gain maximum" name="ArduCopter:LOITER_LAT_IMAX" documentation="Loiter rate controller I gain maximum.  Constrains the lean angle that the I gain will output" user="Standard">
<field name="Range">0 4500</field>
<field name="Units">Centi-Degrees</field>
</param>
<param humanName="Loiter latitude rate controller D gain" name="ArduCopter:LOITER_LAT_D" documentation="Loiter latitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed" user="Standard">
<field name="Range">0.200 0.600</field>
</param>
<param humanName="Loiter longitude rate controller P gain" name="ArduCopter:LOITER_LON_P" documentation="Loiter longitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the longitude direction" user="Standard">
<field name="Range">2.000 6.000</field>
</param>
<param humanName="Loiter longitude rate controller I gain" name="ArduCopter:LOITER_LON_I" documentation="Loiter longitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the longitude direction" user="Standard">
<field name="Range">0.020 0.060</field>
</param>
<param humanName="Loiter longitude rate controller I gain maximum" name="ArduCopter:LOITER_LON_IMAX" documentation="Loiter longitude rate controller I gain maximum.  Constrains the lean angle that the I gain will output" user="Standard">
<field name="Range">0 4500</field>
<field name="Units">Centi-Degrees</field>
</param>
<param humanName="Loiter longituderate controller D gain" name="ArduCopter:LOITER_LON_D" documentation="Loiter longitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed" user="Standard">
<field name="Range">0.200 0.600</field>