Support correct parameter set for APM

0303f53a · Don Gagne · d44fcde4 · 0303f53a · 0303f53a · 0303f53a
Commit 0303f53a authored Oct 27, 2015 by Don Gagne
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
 <RCC>
    <qresource prefix="/unittest">
-        <file alias="MockLink.params">src/comm/MockLink.params</file>
+        <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
+        <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
+        <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
        <file alias="FactSystemTest.qml">src/FactSystem/FactSystemTest.qml</file>
    </qresource>
    <qresource prefix="/qml">

--- a/src/comm/APMArduCopterMockLink.params
+++ b/src/comm/APMArduCopterMockLink.params
+# Onboard parameters for system MAV 001
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+1	1	ACCEL_Z_D	0	9
+1	1	ACCEL_Z_FILT_HZ	20	9
+1	1	ACCEL_Z_I	1	9
+1	1	ACCEL_Z_IMAX	800	9
+1	1	ACCEL_Z_P	0.5	9
+1	1	ACRO_BAL_PITCH	1	9
+1	1	ACRO_BAL_ROLL	1	9
+1	1	ACRO_EXPO	0.3	9
+1	1	ACRO_RP_P	4.5	9
+1	1	ACRO_TRAINER	2	2
+1	1	ACRO_YAW_P	4.5	9
+1	1	AHRS_COMP_BETA	0.1	9
+1	1	AHRS_GPS_GAIN	1	9
+1	1	AHRS_GPS_MINSATS	6	2
+1	1	AHRS_GPS_USE	1	2
+1	1	AHRS_ORIENTATION	0	2
+1	1	AHRS_RP_P	0.2	9
+1	1	AHRS_TRIM_X	0	9
+1	1	AHRS_TRIM_Y	0	9
+1	1	AHRS_TRIM_Z	0	9
+1	1	AHRS_WIND_MAX	0	2
+1	1	AHRS_YAW_P	0.2	9
+1	1	ANGLE_MAX	4500	4
+1	1	ARMING_CHECK	1	2
+1	1	ATC_ACCEL_P_MAX	1.1e+05	9
+1	1	ATC_ACCEL_R_MAX	1.1e+05	9
+1	1	ATC_ACCEL_Y_MAX	2.7e+04	9
+1	1	ATC_RATE_FF_ENAB	1	2
+1	1	ATC_SLEW_YAW	1e+03	9
+1	1	AUTOTUNE_AGGR	0.1	9
+1	1	AUTOTUNE_AXES	7	2
+1	1	AUTOTUNE_MIN_D	0.004	9
+1	1	BATT2_AMP_OFFSET	0	9
+1	1	BATT2_AMP_PERVOL	17	9
+1	1	BATT2_CAPACITY	3300	6
+1	1	BATT2_CURR_PIN	3	2
+1	1	BATT2_MONITOR	0	2
+1	1	BATT2_VOLT_MULT	10.1	9
+1	1	BATT2_VOLT_PIN	2	2
+1	1	BATT_AMP_OFFSET	0	9
+1	1	BATT_AMP_PERVOLT	17	9
+1	1	BATT_CAPACITY	3300	6
+1	1	BATT_CURR_PIN	3	2
+1	1	BATT_MONITOR	0	2
+1	1	BATT_VOLT_MULT	10.1	9
+1	1	BATT_VOLT_PIN	2	2
+1	1	BRD_PWM_COUNT	4	2
+1	1	BRD_SAFETYENABLE	1	2
+1	1	BRD_SBUS_OUT	0	2
+1	1	BRD_SER1_RTSCTS	2	2
+1	1	BRD_SER2_RTSCTS	2	2
+1	1	BRD_SERIAL_NUM	0	4
+1	1	CAM_DURATION	10	2
+1	1	CAM_SERVO_OFF	1100	4
+1	1	CAM_SERVO_ON	1300	4
+1	1	CAM_TRIGG_DIST	0	9
+1	1	CAM_TRIGG_TYPE	0	2
+1	1	CH10_OPT	0	2
+1	1	CH11_OPT	0	2
+1	1	CH12_OPT	0	2
+1	1	CH7_OPT	0	2
+1	1	CH8_OPT	0	2
+1	1	CH9_OPT	0	2
+1	1	CHUTE_ALT_MIN	10	4
+1	1	CHUTE_ENABLED	0	2
+1	1	CHUTE_SERVO_OFF	1100	4
+1	1	CHUTE_SERVO_ON	1300	4
+1	1	CHUTE_TYPE	0	2
+1	1	CIRCLE_RADIUS	1e+03	9
+1	1	CIRCLE_RATE	20	9
+1	1	CLI_ENABLED	0	2
+1	1	COMPASS_AUTODEC	1	2
+1	1	COMPASS_DEC	0	9
+1	1	COMPASS_DEV_ID	131594	6
+1	1	COMPASS_DEV_ID2	0	6
+1	1	COMPASS_DEV_ID3	0	6
+1	1	COMPASS_EXTERN2	0	2
+1	1	COMPASS_EXTERN3	0	2
+1	1	COMPASS_EXTERNAL	0	2
+1	1	COMPASS_LEARN	0	2
+1	1	COMPASS_MOT2_X	0	9
+1	1	COMPASS_MOT2_Y	0	9
+1	1	COMPASS_MOT2_Z	0	9
+1	1	COMPASS_MOT3_X	0	9
+1	1	COMPASS_MOT3_Y	0	9
+1	1	COMPASS_MOT3_Z	0	9
+1	1	COMPASS_MOTCT	0	2
+1	1	COMPASS_MOT_X	0	9
+1	1	COMPASS_MOT_Y	0	9
+1	1	COMPASS_MOT_Z	0	9
+1	1	COMPASS_OFS2_X	0	9
+1	1	COMPASS_OFS2_Y	0	9
+1	1	COMPASS_OFS2_Z	0	9
+1	1	COMPASS_OFS3_X	0	9
+1	1	COMPASS_OFS3_Y	0	9
+1	1	COMPASS_OFS3_Z	0	9
+1	1	COMPASS_OFS_X	0	9
+1	1	COMPASS_OFS_Y	0	9
+1	1	COMPASS_OFS_Z	0	9
+1	1	COMPASS_ORIENT	0	2
+1	1	COMPASS_ORIENT2	0	2
+1	1	COMPASS_ORIENT3	0	2
+1	1	COMPASS_PRIMARY	0	2
+1	1	COMPASS_USE	1	2
+1	1	COMPASS_USE2	1	2
+1	1	COMPASS_USE3	1	2
+1	1	EKF_ABIAS_PNOISE	5e-05	9
+1	1	EKF_ACC_PNOISE	0.25	9
+1	1	EKF_ALT_NOISE	1	9
+1	1	EKF_ALT_SOURCE	1	2
+1	1	EKF_EAS_GATE	10	2
+1	1	EKF_EAS_NOISE	1.4	9
+1	1	EKF_FALLBACK	1	2
+1	1	EKF_FLOW_DELAY	10	2
+1	1	EKF_FLOW_GATE	3	2
+1	1	EKF_FLOW_NOISE	0.25	9
+1	1	EKF_GBIAS_PNOISE	1e-06	9
+1	1	EKF_GLITCH_ACCEL	100	4
+1	1	EKF_GLITCH_RAD	25	2
+1	1	EKF_GND_GRADIENT	2	2
+1	1	EKF_GPS_TYPE	0	2
+1	1	EKF_GYRO_PNOISE	0.015	9
+1	1	EKF_HGT_GATE	10	2
+1	1	EKF_MAGB_PNOISE	0.0003	9
+1	1	EKF_MAGE_PNOISE	0.0003	9
+1	1	EKF_MAG_CAL	1	2
+1	1	EKF_MAG_GATE	3	2
+1	1	EKF_MAG_NOISE	0.05	9
+1	1	EKF_MAX_FLOW	2.5	9
+1	1	EKF_POSNE_NOISE	0.5	9
+1	1	EKF_POS_DELAY	220	4
+1	1	EKF_POS_GATE	10	2
+1	1	EKF_RNG_GATE	5	2
+1	1	EKF_VELD_NOISE	0.7	9
+1	1	EKF_VELNE_NOISE	0.5	9
+1	1	EKF_VEL_DELAY	220	4
+1	1	EKF_VEL_GATE	5	2
+1	1	EKF_WIND_PNOISE	0.1	9
+1	1	EKF_WIND_PSCALE	0.5	9
+1	1	EPM_ENABLE	0	2
+1	1	EPM_GRAB	1900	4
+1	1	EPM_NEUTRAL	1500	4
+1	1	EPM_REGRAB	0	2
+1	1	EPM_RELEASE	1100	4
+1	1	ESC_CALIBRATION	0	2
+1	1	FENCE_ACTION	1	2
+1	1	FENCE_ALT_MAX	100	9
+1	1	FENCE_ENABLE	0	2
+1	1	FENCE_MARGIN	2	9
+1	1	FENCE_RADIUS	300	9
+1	1	FENCE_TYPE	3	2
+1	1	FLOW_ENABLE	0	2
+1	1	FLOW_FXSCALER	0	4
+1	1	FLOW_FYSCALER	0	4
+1	1	FLOW_ORIENT_YAW	0	4
+1	1	FLTMODE1	0	2
+1	1	FLTMODE2	0	2
+1	1	FLTMODE3	0	2
+1	1	FLTMODE4	0	2
+1	1	FLTMODE5	0	2
+1	1	FLTMODE6	0	2
+1	1	FRAME	1	2
+1	1	FS_BATT_ENABLE	0	2
+1	1	FS_BATT_MAH	0	9
+1	1	FS_BATT_VOLTAGE	10.5	9
+1	1	FS_EKF_ACTION	1	2
+1	1	FS_EKF_THRESH	0.8	9
+1	1	FS_GCS_ENABLE	1	2
+1	1	FS_THR_ENABLE	0	2
+1	1	FS_THR_VALUE	975	4
+1	1	GCS_PID_MASK	0	4
+1	1	GND_ABS_PRESS	1.01e+05	9
+1	1	GND_ALT_OFFSET	0	2
+1	1	GND_TEMP	29.5	9
+1	1	GPS_AUTO_SWITCH	1	2
+1	1	GPS_GNSS_MODE	0	2
+1	1	GPS_HDOP_GOOD	140	4
+1	1	GPS_INJECT_TO	127	2
+1	1	GPS_MIN_DGPS	100	2
+1	1	GPS_MIN_ELEV	-100	2
+1	1	GPS_NAVFILTER	8	2
+1	1	GPS_RAW_DATA	0	2
+1	1	GPS_SBAS_MODE	2	2
+1	1	GPS_SBP_LOGMASK	-256	4
+1	1	GPS_TYPE	1	2
+1	1	GPS_TYPE2	0	2
+1	1	INS_ACC2OFFS_X	0	9
+1	1	INS_ACC2OFFS_Y	0	9
+1	1	INS_ACC2OFFS_Z	0	9
+1	1	INS_ACC2SCAL_X	1	9
+1	1	INS_ACC2SCAL_Y	1	9
+1	1	INS_ACC2SCAL_Z	1	9
+1	1	INS_ACC3OFFS_X	0	9
+1	1	INS_ACC3OFFS_Y	0	9
+1	1	INS_ACC3OFFS_Z	0	9
+1	1	INS_ACC3SCAL_X	0	9
+1	1	INS_ACC3SCAL_Y	0	9
+1	1	INS_ACC3SCAL_Z	0	9
+1	1	INS_ACCEL_FILTER	20	2
+1	1	INS_ACCOFFS_X	0	9
+1	1	INS_ACCOFFS_Y	0	9
+1	1	INS_ACCOFFS_Z	0	9
+1	1	INS_ACCSCAL_X	1	9
+1	1	INS_ACCSCAL_Y	1	9
+1	1	INS_ACCSCAL_Z	1	9
+1	1	INS_GYR2OFFS_X	0.0184	9
+1	1	INS_GYR2OFFS_Y	0.00255	9
+1	1	INS_GYR2OFFS_Z	-0.0246	9
+1	1	INS_GYR3OFFS_X	0	9
+1	1	INS_GYR3OFFS_Y	0	9
+1	1	INS_GYR3OFFS_Z	0	9
+1	1	INS_GYROFFS_X	0.0225	9
+1	1	INS_GYROFFS_Y	0.0483	9
+1	1	INS_GYROFFS_Z	-0.00417	9
+1	1	INS_GYRO_FILTER	20	2
+1	1	INS_PRODUCT_ID	5	4
+1	1	INS_USE	1	2
+1	1	INS_USE2	1	2
+1	1	INS_USE3	0	2
+1	1	LAND_REPOSITION	1	2
+1	1	LAND_SPEED	50	4
+1	1	LGR_SERVO_DEPLOY	1750	4
+1	1	LGR_SERVO_RTRACT	1250	4
+1	1	LOG_BITMASK	176126	6
+1	1	MAG_ENABLE	1	2
+1	1	MIS_RESTART	0	2
+1	1	MIS_TOTAL	0	4
+1	1	MNT_ANGMAX_PAN	4500	4
+1	1	MNT_ANGMAX_ROL	4500	4
+1	1	MNT_ANGMAX_TIL	4500	4
+1	1	MNT_ANGMIN_PAN	-4500	4
+1	1	MNT_ANGMIN_ROL	-4500	4
+1	1	MNT_ANGMIN_TIL	-4500	4
+1	1	MNT_DEFLT_MODE	3	2
+1	1	MNT_JSTICK_SPD	0	2
+1	1	MNT_K_RATE	5	9
+1	1	MNT_LEAD_PTCH	0	9
+1	1	MNT_LEAD_RLL	0	9
+1	1	MNT_NEUTRAL_X	0	9
+1	1	MNT_NEUTRAL_Y	0	9
+1	1	MNT_NEUTRAL_Z	0	9
+1	1	MNT_OFF_ACC_X	0	9
+1	1	MNT_OFF_ACC_Y	0	9
+1	1	MNT_OFF_ACC_Z	0	9
+1	1	MNT_OFF_GYRO_X	0	9
+1	1	MNT_OFF_GYRO_Y	0	9
+1	1	MNT_OFF_GYRO_Z	0	9
+1	1	MNT_OFF_JNT_X	0	9
+1	1	MNT_OFF_JNT_Y	0	9
+1	1	MNT_OFF_JNT_Z	0	9
+1	1	MNT_RC_IN_PAN	0	2
+1	1	MNT_RC_IN_ROLL	0	2
+1	1	MNT_RC_IN_TILT	0	2
+1	1	MNT_RETRACT_X	0	9
+1	1	MNT_RETRACT_Y	0	9
+1	1	MNT_RETRACT_Z	0	9
+1	1	MNT_STAB_PAN	0	2
+1	1	MNT_STAB_ROLL	0	2
+1	1	MNT_STAB_TILT	0	2
+1	1	MNT_TYPE	0	2
+1	1	MOT_CURR_MAX	0	9
+1	1	MOT_SPIN_ARMED	70	4
+1	1	MOT_THR_MIX_MAX	0.5	9
+1	1	MOT_THR_MIX_MIN	0.1	9
+1	1	MOT_THST_BAT_MAX	0	9
+1	1	MOT_THST_BAT_MIN	0	9
+1	1	MOT_THST_EXPO	0.65	9
+1	1	MOT_THST_MAX	0.95	9
+1	1	MOT_YAW_HEADROOM	200	4
+1	1	PHLD_BRAKE_ANGLE	3000	4
+1	1	PHLD_BRAKE_RATE	8	4
+1	1	PILOT_ACCEL_Z	250	4
+1	1	PILOT_THR_BHV	0	4
+1	1	PILOT_THR_FILT	0	9
+1	1	PILOT_TKOFF_ALT	0	9
+1	1	PILOT_TKOFF_DZ	100	4
+1	1	PILOT_VELZ_MAX	250	4
+1	1	POS_XY_P	1	9
+1	1	POS_Z_P	1	9
+1	1	PSC_ACC_XY_FILT	2	9
+1	1	RALLY_INCL_HOME	1	2
+1	1	RALLY_LIMIT_KM	0.3	9
+1	1	RALLY_TOTAL	0	2
+1	1	RATE_PIT_D	0.004	9
+1	1	RATE_PIT_FILT_HZ	20	9
+1	1	RATE_PIT_I	0.1	9
+1	1	RATE_PIT_IMAX	2e+03	9
+1	1	RATE_PIT_P	0.15	9
+1	1	RATE_RLL_D	0.004	9
+1	1	RATE_RLL_FILT_HZ	20	9
+1	1	RATE_RLL_I	0.1	9
+1	1	RATE_RLL_IMAX	2e+03	9
+1	1	RATE_RLL_P	0.15	9
+1	1	RATE_YAW_D	0	9
+1	1	RATE_YAW_FILT_HZ	5	9
+1	1	RATE_YAW_I	0.02	9
+1	1	RATE_YAW_IMAX	1e+03	9
+1	1	RATE_YAW_P	0.2	9
+1	1	RC10_DZ	0	4
+1	1	RC10_FUNCTION	0	2
+1	1	RC10_MAX	1900	4
+1	1	RC10_MIN	1100	4
+1	1	RC10_REV	1	2
+1	1	RC10_TRIM	1500	4
+1	1	RC11_DZ	0	4
+1	1	RC11_FUNCTION	0	2
+1	1	RC11_MAX	1900	4
+1	1	RC11_MIN	1100	4
+1	1	RC11_REV	1	2
+1	1	RC11_TRIM	1500	4
+1	1	RC12_DZ	0	4
+1	1	RC12_FUNCTION	0	2
+1	1	RC12_MAX	1900	4
+1	1	RC12_MIN	1100	4
+1	1	RC12_REV	1	2
+1	1	RC12_TRIM	1500	4
+1	1	RC13_DZ	0	4
+1	1	RC13_FUNCTION	0	2
+1	1	RC13_MAX	1900	4
+1	1	RC13_MIN	1100	4
+1	1	RC13_REV	1	2
+1	1	RC13_TRIM	1500	4
+1	1	RC14_DZ	0	4
+1	1	RC14_FUNCTION	0	2
+1	1	RC14_MAX	1900	4
+1	1	RC14_MIN	1100	4
+1	1	RC14_REV	1	2
+1	1	RC14_TRIM	1500	4
+1	1	RC1_DZ	30	4
+1	1	RC1_MAX	1900	4
+1	1	RC1_MIN	1100	4
+1	1	RC1_REV	1	2
+1	1	RC1_TRIM	1500	4
+1	1	RC2_DZ	30	4
+1	1	RC2_MAX	1900	4
+1	1	RC2_MIN	1100	4
+1	1	RC2_REV	1	2
+1	1	RC2_TRIM	1500	4
+1	1	RC3_DZ	30	4
+1	1	RC3_MAX	1900	4
+1	1	RC3_MIN	1100	4
+1	1	RC3_REV	1	2
+1	1	RC3_TRIM	1500	4
+1	1	RC4_DZ	40	4
+1	1	RC4_MAX	1900	4
+1	1	RC4_MIN	1100	4
+1	1	RC4_REV	1	2
+1	1	RC4_TRIM	1500	4
+1	1	RC5_DZ	0	4
+1	1	RC5_FUNCTION	0	2
+1	1	RC5_MAX	1900	4
+1	1	RC5_MIN	1100	4
+1	1	RC5_REV	1	2
+1	1	RC5_TRIM	1500	4
+1	1	RC6_DZ	0	4
+1	1	RC6_FUNCTION	0	2
+1	1	RC6_MAX	1900	4
+1	1	RC6_MIN	1100	4
+1	1	RC6_REV	1	2
+1	1	RC6_TRIM	1500	4
+1	1	RC7_DZ	0	4
+1	1	RC7_FUNCTION	0	2
+1	1	RC7_MAX	1900	4
+1	1	RC7_MIN	1100	4
+1	1	RC7_REV	1	2
+1	1	RC7_TRIM	1500	4
+1	1	RC8_DZ	0	4
+1	1	RC8_FUNCTION	0	2
+1	1	RC8_MAX	1900	4
+1	1	RC8_MIN	1100	4
+1	1	RC8_REV	1	2
+1	1	RC8_TRIM	1500	4
+1	1	RC9_DZ	0	4
+1	1	RC9_FUNCTION	0	2
+1	1	RC9_MAX	1900	4
+1	1	RC9_MIN	1100	4
+1	1	RC9_REV	1	2
+1	1	RC9_TRIM	1500	4
+1	1	RCMAP_PITCH	2	2
+1	1	RCMAP_ROLL	1	2
+1	1	RCMAP_THROTTLE	3	2
+1	1	RCMAP_YAW	4	2
+1	1	RC_FEEL_RP	50	2
+1	1	RC_SPEED	490	4
+1	1	RELAY_DEFAULT	0	2
+1	1	RELAY_PIN	54	2
+1	1	RELAY_PIN2	55	2
+1	1	RELAY_PIN3	-1	2
+1	1	RELAY_PIN4	-1	2
+1	1	RNGFND2_FUNCTION	0	2
+1	1	RNGFND2_GNDCLEAR	10	2
+1	1	RNGFND2_MAX_CM	700	4
+1	1	RNGFND2_MIN_CM	20	4
+1	1	RNGFND2_OFFSET	0	9
+1	1	RNGFND2_PIN	-1	2
+1	1	RNGFND2_RMETRIC	1	2
+1	1	RNGFND2_SCALING	3	9
+1	1	RNGFND2_SETTLE	0	4
+1	1	RNGFND2_STOP_PIN	-1	2
+1	1	RNGFND2_TYPE	0	2
+1	1	RNGFND_FUNCTION	0	2
+1	1	RNGFND_GAIN	0.8	9
+1	1	RNGFND_GNDCLEAR	10	2
+1	1	RNGFND_MAX_CM	700	4
+1	1	RNGFND_MIN_CM	20	4
+1	1	RNGFND_OFFSET	0	9
+1	1	RNGFND_PIN	-1	2
+1	1	RNGFND_PWRRNG	0	4
+1	1	RNGFND_RMETRIC	1	2
+1	1	RNGFND_SCALING	3	9
+1	1	RNGFND_SETTLE	0	4
+1	1	RNGFND_STOP_PIN	-1	2
+1	1	RNGFND_TYPE	0	2
+1	1	RPM2_SCALING	1	9
+1	1	RPM2_TYPE	0	2
+1	1	RPM_SCALING	1	9
+1	1	RPM_TYPE	0	2
+1	1	RSSI_PIN	-1	2
+1	1	RSSI_RANGE	5	9
+1	1	RTL_ALT	1500	4
+1	1	RTL_ALT_FINAL	0	4
+1	1	RTL_CLIMB_MIN	0	4
+1	1	RTL_LOIT_TIME	5000	6
+1	1	SCHED_DEBUG	0	2
+1	1	SERIAL0_BAUD	115	6
+1	1	SERIAL1_BAUD	57	6
+1	1	SERIAL1_PROTOCOL	1	2
+1	1	SERIAL2_BAUD	57	6
+1	1	SERIAL2_PROTOCOL	1	2
+1	1	SERIAL3_BAUD	38	6
+1	1	SERIAL3_PROTOCOL	5	2
+1	1	SERIAL4_BAUD	38	6
+1	1	SERIAL4_PROTOCOL	5	2
+1	1	SIMPLE	0	2
+1	1	SR0_EXTRA1	10	4
+1	1	SR0_EXTRA2	0	4
+1	1	SR0_EXTRA3	0	4
+1	1	SR0_EXT_STAT	2	4
+1	1	SR0_PARAMS	10	4
+1	1	SR0_POSITION	3	4
+1	1	SR0_RAW_CTRL	0	4
+1	1	SR0_RAW_SENS	2	4
+1	1	SR0_RC_CHAN	2	4
+1	1	SR1_EXTRA1	0	4
+1	1	SR1_EXTRA2	0	4
+1	1	SR1_EXTRA3	0	4
+1	1	SR1_EXT_STAT	0	4
+1	1	SR1_PARAMS	0	4
+1	1	SR1_POSITION	0	4
+1	1	SR1_RAW_CTRL	0	4
+1	1	SR1_RAW_SENS	0	4
+1	1	SR1_RC_CHAN	0	4
+1	1	SR2_EXTRA1	0	4
+1	1	SR2_EXTRA2	0	4
+1	1	SR2_EXTRA3	0	4
+1	1	SR2_EXT_STAT	0	4
+1	1	SR2_PARAMS	0	4
+1	1	SR2_POSITION	0	4
+1	1	SR2_RAW_CTRL	0	4
+1	1	SR2_RAW_SENS	0	4
+1	1	SR2_RC_CHAN	0	4
+1	1	SR3_EXTRA1	0	4
+1	1	SR3_EXTRA2	0	4
+1	1	SR3_EXTRA3	0	4
+1	1	SR3_EXT_STAT	0	4
+1	1	SR3_PARAMS	0	4
+1	1	SR3_POSITION	0	4
+1	1	SR3_RAW_CTRL	0	4
+1	1	SR3_RAW_SENS	0	4
+1	1	SR3_RC_CHAN	0	4
+1	1	STB_PIT_P	4.5	9
+1	1	STB_RLL_P	4.5	9
+1	1	STB_YAW_P	4.5	9
+1	1	SUPER_SIMPLE	0	2
+1	1	SYSID_MYGCS	255	4
+1	1	SYSID_SW_MREV	120	4
+1	1	SYSID_SW_TYPE	10	2
+1	1	SYSID_THISMAV	1	4
+1	1	TELEM_DELAY	0	2
+1	1	TERRAIN_ENABLE	1	2
+1	1	TERRAIN_SPACING	100	4
+1	1	THR_DZ	100	4
+1	1	THR_MID	500	4
+1	1	THR_MIN	130	4
+1	1	TUNE	0	2
+1	1	TUNE_HIGH	1000	4
+1	1	TUNE_LOW	0	4
+1	1	VEL_XY_FILT_HZ	5	9
+1	1	VEL_XY_I	0.5	9
+1	1	VEL_XY_IMAX	1e+03	9
+1	1	VEL_XY_P	1	9
+1	1	VEL_Z_P	5	9
+1	1	WPNAV_ACCEL	100	9
+1	1	WPNAV_ACCEL_Z	100	9
+1	1	WPNAV_LOIT_JERK	1e+03	9
+1	1	WPNAV_LOIT_MAXA	250	9
+1	1	WPNAV_LOIT_MINA	25	9
+1	1	WPNAV_LOIT_SPEED	500	9
+1	1	WPNAV_RADIUS	200	9
+1	1	WPNAV_SPEED	500	9
+1	1	WPNAV_SPEED_DN	150	9
+1	1	WPNAV_SPEED_UP	250	9
+1	1	WP_YAW_BEHAVIOR	2	2
--- a/src/comm/APMArduPlaneMockLink.params
+++ b/src/comm/APMArduPlaneMockLink.params
+# Onboard parameters for system MAV 001
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+1	1	ACRO_LOCKING	0	2
+1	1	ACRO_PITCH_RATE	180	4
+1	1	ACRO_ROLL_RATE	180	4
+1	1	AFS_AMSL_ERR_GPS	-1	6
+1	1	AFS_AMSL_LIMIT	0	6
+1	1	AFS_ENABLE	0	2
+1	1	AFS_HB_PIN	-1	2
+1	1	AFS_MAN_PIN	-1	2
+1	1	AFS_MAX_COM_LOSS	0	2
+1	1	AFS_MAX_GPS_LOSS	0	2
+1	1	AFS_QNH_PRESSURE	0	9
+1	1	AFS_RC_FAIL_MS	0	4
+1	1	AFS_TERMINATE	0	2
+1	1	AFS_TERM_ACTION	0	2
+1	1	AFS_TERM_PIN	-1	2
+1	1	AFS_WP_COMMS	0	2
+1	1	AFS_WP_GPS_LOSS	0	2
+1	1	AHRS_COMP_BETA	0.1	9
+1	1	AHRS_EKF_USE	1	2
+1	1	AHRS_GPS_GAIN	1	9
+1	1	AHRS_GPS_MINSATS	6	2
+1	1	AHRS_GPS_USE	1	2
+1	1	AHRS_ORIENTATION	0	2
+1	1	AHRS_RP_P	0.2	9
+1	1	AHRS_TRIM_X	0	9
+1	1	AHRS_TRIM_Y	0	9
+1	1	AHRS_TRIM_Z	0	9
+1	1	AHRS_WIND_MAX	0	2
+1	1	AHRS_YAW_P	0.2	9
+1	1	ALT_CTRL_ALG	0	2
+1	1	ALT_HOLD_FBWCM	0	4
+1	1	ALT_HOLD_RTL	10000	6
+1	1	ALT_MIX	1	9
+1	1	ALT_OFFSET	0	4
+1	1	ARMING_CHECK	1	4
+1	1	ARMING_REQUIRE	1	2
+1	1	ARMING_RUDDER	1	2
+1	1	ARSPD_AUTOCAL	0	2
+1	1	ARSPD_ENABLE	1	2
+1	1	ARSPD_FBW_MAX	22	4
+1	1	ARSPD_FBW_MIN	9	4
+1	1	ARSPD_OFFSET	0	9
+1	1	ARSPD_PIN	15	2
+1	1	ARSPD_RATIO	1.99	9
+1	1	ARSPD_SKIP_CAL	0	2
+1	1	ARSPD_TUBE_ORDER	2	2
+1	1	ARSPD_USE	0	2
+1	1	AUTOTUNE_LEVEL	6	2
+1	1	AUTO_FBW_STEER	0	2
+1	1	BATT2_AMP_OFFSET	0	9
+1	1	BATT2_AMP_PERVOL	17	9
+1	1	BATT2_CAPACITY	3300	6
+1	1	BATT2_CURR_PIN	3	2
+1	1	BATT2_MONITOR	0	2
+1	1	BATT2_VOLT_MULT	10.1	9
+1	1	BATT2_VOLT_PIN	2	2
+1	1	BATT_AMP_OFFSET	0	9
+1	1	BATT_AMP_PERVOLT	17	9
+1	1	BATT_CAPACITY	3300	6
+1	1	BATT_CURR_PIN	3	2
+1	1	BATT_MONITOR	0	2
+1	1	BATT_VOLT_MULT	10.1	9
+1	1	BATT_VOLT_PIN	2	2
+1	1	BRD_PWM_COUNT	4	2
+1	1	BRD_SAFETYENABLE	1	2
+1	1	BRD_SBUS_OUT	0	2
+1	1	BRD_SER1_RTSCTS	2	2
+1	1	BRD_SER2_RTSCTS	2	2
+1	1	BRD_SERIAL_NUM	0	4
+1	1	CAM_DURATION	10	2
+1	1	CAM_RELAY_ON	1	2
+1	1	CAM_SERVO_OFF	1100	4
+1	1	CAM_SERVO_ON	1300	4
+1	1	CAM_TRIGG_DIST	0	9
+1	1	CAM_TRIGG_TYPE	0	2
+1	1	CLI_ENABLED	0	2
+1	1	COMPASS_AUTODEC	1	2
+1	1	COMPASS_CAL_FIT	8	9
+1	1	COMPASS_DEC	0	9
+1	1	COMPASS_DEV_ID	131594	6
+1	1	COMPASS_DEV_ID2	0	6
+1	1	COMPASS_DEV_ID3	0	6
+1	1	COMPASS_DIA2_X	0	9
+1	1	COMPASS_DIA2_Y	0	9
+1	1	COMPASS_DIA2_Z	0	9
+1	1	COMPASS_DIA3_X	0	9
+1	1	COMPASS_DIA3_Y	0	9
+1	1	COMPASS_DIA3_Z	0	9
+1	1	COMPASS_DIA_X	1	9
+1	1	COMPASS_DIA_Y	1	9
+1	1	COMPASS_DIA_Z	1	9
+1	1	COMPASS_EXTERN2	0	2
+1	1	COMPASS_EXTERN3	0	2
+1	1	COMPASS_EXTERNAL	0	2
+1	1	COMPASS_LEARN	1	2
+1	1	COMPASS_MOT2_X	0	9
+1	1	COMPASS_MOT2_Y	0	9
+1	1	COMPASS_MOT2_Z	0	9
+1	1	COMPASS_MOT3_X	0	9
+1	1	COMPASS_MOT3_Y	0	9
+1	1	COMPASS_MOT3_Z	0	9
+1	1	COMPASS_MOTCT	0	2
+1	1	COMPASS_MOT_X	0	9
+1	1	COMPASS_MOT_Y	0	9
+1	1	COMPASS_MOT_Z	0	9
+1	1	COMPASS_ODI2_X	0	9
+1	1	COMPASS_ODI2_Y	0	9
+1	1	COMPASS_ODI2_Z	0	9
+1	1	COMPASS_ODI3_X	0	9
+1	1	COMPASS_ODI3_Y	0	9
+1	1	COMPASS_ODI3_Z	0	9
+1	1	COMPASS_ODI_X	0	9
+1	1	COMPASS_ODI_Y	0	9
+1	1	COMPASS_ODI_Z	0	9
+1	1	COMPASS_OFS2_X	0	9
+1	1	COMPASS_OFS2_Y	0	9
+1	1	COMPASS_OFS2_Z	0	9
+1	1	COMPASS_OFS3_X	0	9
+1	1	COMPASS_OFS3_Y	0	9
+1	1	COMPASS_OFS3_Z	0	9
+1	1	COMPASS_OFS_X	0	9
+1	1	COMPASS_OFS_Y	0	9
+1	1	COMPASS_OFS_Z	0	9
+1	1	COMPASS_ORIENT	0	2
+1	1	COMPASS_ORIENT2	0	2
+1	1	COMPASS_ORIENT3	0	2
+1	1	COMPASS_PRIMARY	0	2
+1	1	COMPASS_USE	1	2
+1	1	COMPASS_USE2	1	2
+1	1	COMPASS_USE3	1	2
+1	1	CRASH_DETECT	0	2
+1	1	EKF_ABIAS_PNOISE	5e-05	9
+1	1	EKF_ACC_PNOISE	0.5	9
+1	1	EKF_ALT_NOISE	0.5	9
+1	1	EKF_ALT_SOURCE	1	2
+1	1	EKF_EAS_GATE	10	2
+1	1	EKF_EAS_NOISE	1.4	9
+1	1	EKF_FALLBACK	1	2
+1	1	EKF_FLOW_DELAY	25	2
+1	1	EKF_FLOW_GATE	3	2
+1	1	EKF_FLOW_NOISE	0.3	9
+1	1	EKF_GBIAS_PNOISE	8e-06	9
+1	1	EKF_GLITCH_ACCEL	150	4
+1	1	EKF_GLITCH_RAD	20	2
+1	1	EKF_GND_GRADIENT	2	2
+1	1	EKF_GPS_TYPE	0	2
+1	1	EKF_GYRO_PNOISE	0.015	9
+1	1	EKF_HGT_GATE	20	2
+1	1	EKF_MAGB_PNOISE	0.0003	9
+1	1	EKF_MAGE_PNOISE	0.0003	9
+1	1	EKF_MAG_CAL	0	2
+1	1	EKF_MAG_GATE	3	2
+1	1	EKF_MAG_NOISE	0.05	9
+1	1	EKF_MAX_FLOW	2.5	9
+1	1	EKF_POSNE_NOISE	0.5	9
+1	1	EKF_POS_DELAY	220	4
+1	1	EKF_POS_GATE	30	2
+1	1	EKF_RNG_GATE	5	2
+1	1	EKF_VELD_NOISE	0.7	9
+1	1	EKF_VELNE_NOISE	0.5	9
+1	1	EKF_VEL_DELAY	220	4
+1	1	EKF_VEL_GATE	6	2
+1	1	EKF_WIND_PNOISE	0.1	9
+1	1	EKF_WIND_PSCALE	0.5	9
+1	1	ELEVON_CH1_REV	0	2
+1	1	ELEVON_CH2_REV	0	2
+1	1	ELEVON_MIXING	0	2
+1	1	ELEVON_OUTPUT	0	2
+1	1	ELEVON_REVERSE	0	2
+1	1	FBWA_TDRAG_CHAN	0	2
+1	1	FBWB_CLIMB_RATE	2	2
+1	1	FBWB_ELEV_REV	0	2
+1	1	FENCE_ACTION	0	2
+1	1	FENCE_AUTOENABLE	0	2
+1	1	FENCE_CHANNEL	0	2
+1	1	FENCE_MAXALT	0	4
+1	1	FENCE_MINALT	0	4
+1	1	FENCE_RETALT	0	4
+1	1	FENCE_RET_RALLY	0	2
+1	1	FENCE_TOTAL	0	2
+1	1	FLAPERON_OUTPUT	0	2
+1	1	FLAP_1_PERCNT	0	2
+1	1	FLAP_1_SPEED	0	2
+1	1	FLAP_2_PERCNT	0	2
+1	1	FLAP_2_SPEED	0	2
+1	1	FLAP_IN_CHANNEL	0	2
+1	1	FLAP_SLEWRATE	75	2
+1	1	FLOW_ENABLE	0	2
+1	1	FLOW_FXSCALER	0	4
+1	1	FLOW_FYSCALER	0	4
+1	1	FLOW_ORIENT_YAW	0	4
+1	1	FLTMODE1	11	2
+1	1	FLTMODE2	11	2
+1	1	FLTMODE3	5	2
+1	1	FLTMODE4	5	2
+1	1	FLTMODE5	0	2
+1	1	FLTMODE6	0	2
+1	1	FLTMODE_CH	8	2
+1	1	FORMAT_VERSION	13	4
+1	1	FS_BATT_MAH	0	9
+1	1	FS_BATT_VOLTAGE	0	9
+1	1	FS_GCS_ENABL	0	2
+1	1	FS_LONG_ACTN	0	2
+1	1	FS_LONG_TIMEOUT	5	9
+1	1	FS_SHORT_ACTN	0	2
+1	1	FS_SHORT_TIMEOUT	1.5	9
+1	1	GCS_PID_MASK	0	4
+1	1	GLIDE_SLOPE_MIN	15	4
+1	1	GLIDE_SLOPE_THR	5	9
+1	1	GND_ABS_PRESS	1.01e+05	9
+1	1	GND_ALT_OFFSET	0	9
+1	1	GND_PRIMARY	0	2
+1	1	GND_TEMP	0	9
+1	1	GPS_AUTO_SWITCH	1	2
+1	1	GPS_GNSS_MODE	0	2
+1	1	GPS_INJECT_TO	127	2
+1	1	GPS_MIN_DGPS	100	2
+1	1	GPS_MIN_ELEV	-100	2
+1	1	GPS_NAVFILTER	8	2
+1	1	GPS_RAW_DATA	0	2
+1	1	GPS_SBAS_MODE	2	2
+1	1	GPS_SBP_LOGMASK	-256	4
+1	1	GPS_TYPE	1	2
+1	1	GPS_TYPE2	0	2
+1	1	GROUND_STEER_ALT	0	9
+1	1	GROUND_STEER_DPS	90	4
+1	1	HIL_ERR_LIMIT	5	9
+1	1	HIL_MODE	0	2
+1	1	HIL_SERVOS	0	2
+1	1	INITIAL_MODE	0	2
+1	1	INS_ACC2OFFS_X	0	9
+1	1	INS_ACC2OFFS_Y	0	9
+1	1	INS_ACC2OFFS_Z	0	9
+1	1	INS_ACC2SCAL_X	1	9
+1	1	INS_ACC2SCAL_Y	1	9
+1	1	INS_ACC2SCAL_Z	1	9
+1	1	INS_ACC3OFFS_X	0	9
+1	1	INS_ACC3OFFS_Y	0	9
+1	1	INS_ACC3OFFS_Z	0	9
+1	1	INS_ACC3SCAL_X	0	9
+1	1	INS_ACC3SCAL_Y	0	9
+1	1	INS_ACC3SCAL_Z	0	9
+1	1	INS_ACCEL_FILTER	20	2
+1	1	INS_ACCOFFS_X	0	9
+1	1	INS_ACCOFFS_Y	0	9
+1	1	INS_ACCOFFS_Z	0	9
+1	1	INS_ACCSCAL_X	1	9
+1	1	INS_ACCSCAL_Y	1	9
+1	1	INS_ACCSCAL_Z	1	9
+1	1	INS_GYR2OFFS_X	0.0165	9
+1	1	INS_GYR2OFFS_Y	0.00344	9
+1	1	INS_GYR2OFFS_Z	-0.0258	9
+1	1	INS_GYR3OFFS_X	0	9
+1	1	INS_GYR3OFFS_Y	0	9
+1	1	INS_GYR3OFFS_Z	0	9
+1	1	INS_GYROFFS_X	0.0234	9
+1	1	INS_GYROFFS_Y	0.0507	9
+1	1	INS_GYROFFS_Z	-0.00498	9
+1	1	INS_GYRO_FILTER	20	2
+1	1	INS_GYR_CAL	1	2
+1	1	INS_PRODUCT_ID	5	4
+1	1	INS_STILL_THRESH	0.1	9
+1	1	INS_USE	1	2
+1	1	INS_USE2	1	2
+1	1	INS_USE3	0	2
+1	1	INVERTEDFLT_CH	0	2
+1	1	KFF_RDDRMIX	0.5	9
+1	1	KFF_THR2PTCH	0	9
+1	1	LAND_ABORT_THR	0	2
+1	1	LAND_DISARMDELAY	20	2
+1	1	LAND_FLAP_PERCNT	0	2
+1	1	LAND_FLARE_ALT	3	9
+1	1	LAND_FLARE_SEC	2	9
+1	1	LAND_PITCH_CD	0	4
+1	1	LEVEL_ROLL_LIMIT	5	2
+1	1	LIM_PITCH_MAX	2000	4
+1	1	LIM_PITCH_MIN	-2500	4
+1	1	LIM_ROLL_CD	4500	4
+1	1	LOG_BITMASK	65535	6
+1	1	MAG_ENABLE	1	2
+1	1	MIN_GNDSPD_CM	0	6
+1	1	MIS_RESTART	0	2
+1	1	MIS_TOTAL	0	4
+1	1	MIXING_GAIN	0.5	9
+1	1	MNT_ANGMAX_PAN	4500	4
+1	1	MNT_ANGMAX_ROL	4500	4
+1	1	MNT_ANGMAX_TIL	4500	4
+1	1	MNT_ANGMIN_PAN	-4500	4
+1	1	MNT_ANGMIN_ROL	-4500	4
+1	1	MNT_ANGMIN_TIL	-4500	4
+1	1	MNT_DEFLT_MODE	3	2
+1	1	MNT_JSTICK_SPD	0	2
+1	1	MNT_K_RATE	5	9
+1	1	MNT_LEAD_PTCH	0	9
+1	1	MNT_LEAD_RLL	0	9
+1	1	MNT_NEUTRAL_X	0	9
+1	1	MNT_NEUTRAL_Y	0	9
+1	1	MNT_NEUTRAL_Z	0	9
+1	1	MNT_OFF_ACC_X	0	9
+1	1	MNT_OFF_ACC_Y	0	9
+1	1	MNT_OFF_ACC_Z	0	9
+1	1	MNT_OFF_GYRO_X	0	9
+1	1	MNT_OFF_GYRO_Y	0	9
+1	1	MNT_OFF_GYRO_Z	0	9
+1	1	MNT_OFF_JNT_X	0	9
+1	1	MNT_OFF_JNT_Y	0	9
+1	1	MNT_OFF_JNT_Z	0	9
+1	1	MNT_RC_IN_PAN	0	2
+1	1	MNT_RC_IN_ROLL	0	2
+1	1	MNT_RC_IN_TILT	0	2
+1	1	MNT_RETRACT_X	0	9
+1	1	MNT_RETRACT_Y	0	9
+1	1	MNT_RETRACT_Z	0	9
+1	1	MNT_STAB_PAN	0	2
+1	1	MNT_STAB_ROLL	0	2
+1	1	MNT_STAB_TILT	0	2
+1	1	MNT_TYPE	0	2
+1	1	NAVL1_DAMPING	0.75	9
+1	1	NAVL1_PERIOD	20	9
+1	1	NAV_CONTROLLER	1	2
+1	1	OVERRIDE_CHAN	0	2
+1	1	PTCH2SRV_D	0.02	9
+1	1	PTCH2SRV_FF	0	9
+1	1	PTCH2SRV_I	0.04	9
+1	1	PTCH2SRV_IMAX	3000	4
+1	1	PTCH2SRV_P	0.4	9
+1	1	PTCH2SRV_RLL	1	9
+1	1	PTCH2SRV_RMAX_DN	0	4
+1	1	PTCH2SRV_RMAX_UP	0	4
+1	1	PTCH2SRV_TCONST	0.5	9
+1	1	RALLY_INCL_HOME	0	2
+1	1	RALLY_LIMIT_KM	5	9
+1	1	RALLY_TOTAL	0	2
+1	1	RC10_DZ	0	4
+1	1	RC10_FUNCTION	0	2
+1	1	RC10_MAX	1900	4
+1	1	RC10_MIN	1100	4
+1	1	RC10_REV	1	2
+1	1	RC10_TRIM	1500	4
+1	1	RC11_DZ	0	4
+1	1	RC11_FUNCTION	0	2
+1	1	RC11_MAX	1900	4
+1	1	RC11_MIN	1100	4
+1	1	RC11_REV	1	2
+1	1	RC11_TRIM	1500	4
+1	1	RC12_DZ	0	4
+1	1	RC12_FUNCTION	0	2
+1	1	RC12_MAX	1900	4
+1	1	RC12_MIN	1100	4
+1	1	RC12_REV	1	2
+1	1	RC12_TRIM	1500	4
+1	1	RC13_DZ	0	4
+1	1	RC13_FUNCTION	0	2
+1	1	RC13_MAX	1900	4
+1	1	RC13_MIN	1100	4
+1	1	RC13_REV	1	2
+1	1	RC13_TRIM	1500	4
+1	1	RC14_DZ	0	4
+1	1	RC14_FUNCTION	0	2
+1	1	RC14_MAX	1900	4
+1	1	RC14_MIN	1100	4
+1	1	RC14_REV	1	2
+1	1	RC14_TRIM	1500	4
+1	1	RC1_DZ	30	4
+1	1	RC1_MAX	1900	4
+1	1	RC1_MIN	1100	4
+1	1	RC1_REV	1	2
+1	1	RC1_TRIM	1500	4
+1	1	RC2_DZ	30	4
+1	1	RC2_MAX	1900	4
+1	1	RC2_MIN	1100	4
+1	1	RC2_REV	1	2
+1	1	RC2_TRIM	1500	4
+1	1	RC3_DZ	30	4
+1	1	RC3_MAX	1900	4
+1	1	RC3_MIN	1100	4
+1	1	RC3_REV	1	2
+1	1	RC3_TRIM	1100	4
+1	1	RC4_DZ	30	4
+1	1	RC4_MAX	1900	4
+1	1	RC4_MIN	1100	4
+1	1	RC4_REV	1	2
+1	1	RC4_TRIM	1500	4
+1	1	RC5_DZ	0	4
+1	1	RC5_FUNCTION	0	2
+1	1	RC5_MAX	1900	4
+1	1	RC5_MIN	1100	4
+1	1	RC5_REV	1	2
+1	1	RC5_TRIM	1500	4
+1	1	RC6_DZ	0	4
+1	1	RC6_FUNCTION	0	2
+1	1	RC6_MAX	1900	4
+1	1	RC6_MIN	1100	4
+1	1	RC6_REV	1	2
+1	1	RC6_TRIM	1500	4
+1	1	RC7_DZ	0	4
+1	1	RC7_FUNCTION	0	2
+1	1	RC7_MAX	1900	4
+1	1	RC7_MIN	1100	4
+1	1	RC7_REV	1	2
+1	1	RC7_TRIM	1500	4
+1	1	RC8_DZ	0	4
+1	1	RC8_FUNCTION	0	2
+1	1	RC8_MAX	1900	4
+1	1	RC8_MIN	1100	4
+1	1	RC8_REV	1	2
+1	1	RC8_TRIM	1500	4
+1	1	RC9_DZ	0	4
+1	1	RC9_FUNCTION	0	2
+1	1	RC9_MAX	1900	4
+1	1	RC9_MIN	1100	4
+1	1	RC9_REV	1	2
+1	1	RC9_TRIM	1500	4
+1	1	RCMAP_PITCH	2	2
+1	1	RCMAP_ROLL	1	2
+1	1	RCMAP_THROTTLE	3	2
+1	1	RCMAP_YAW	4	2
+1	1	RELAY_DEFAULT	0	2
+1	1	RELAY_PIN	54	2
+1	1	RELAY_PIN2	55	2
+1	1	RELAY_PIN3	-1	2
+1	1	RELAY_PIN4	-1	2
+1	1	RLL2SRV_D	0.02	9
+1	1	RLL2SRV_FF	0	9
+1	1	RLL2SRV_I	0.04	9
+1	1	RLL2SRV_IMAX	3000	4
+1	1	RLL2SRV_P	0.4	9
+1	1	RLL2SRV_RMAX	0	4
+1	1	RLL2SRV_TCONST	0.5	9
+1	1	RNGFND2_ADDR	0	2
+1	1	RNGFND2_FUNCTION	0	2
+1	1	RNGFND2_GNDCLEAR	10	2
+1	1	RNGFND2_MAX_CM	700	4
+1	1	RNGFND2_MIN_CM	20	4
+1	1	RNGFND2_OFFSET	0	9
+1	1	RNGFND2_PIN	-1	2
+1	1	RNGFND2_RMETRIC	1	2
+1	1	RNGFND2_SCALING	3	9
+1	1	RNGFND2_SETTLE	0	4
+1	1	RNGFND2_STOP_PIN	-1	2
+1	1	RNGFND2_TYPE	0	2
+1	1	RNGFND_ADDR	0	2
+1	1	RNGFND_FUNCTION	0	2
+1	1	RNGFND_GNDCLEAR	10	2
+1	1	RNGFND_LANDING	0	2
+1	1	RNGFND_MAX_CM	700	4
+1	1	RNGFND_MIN_CM	20	4
+1	1	RNGFND_OFFSET	0	9
+1	1	RNGFND_PIN	-1	2
+1	1	RNGFND_PWRRNG	0	4
+1	1	RNGFND_RMETRIC	1	2
+1	1	RNGFND_SCALING	3	9
+1	1	RNGFND_SETTLE	0	4
+1	1	RNGFND_STOP_PIN	-1	2
+1	1	RNGFND_TYPE	0	2
+1	1	RSSI_ANA_PIN	0	2
+1	1	RSSI_CHANNEL	0	2
+1	1	RSSI_CHAN_HIGH	2000	4
+1	1	RSSI_CHAN_LOW	1000	4
+1	1	RSSI_PIN_HIGH	5	9
+1	1	RSSI_PIN_LOW	0	9
+1	1	RSSI_TYPE	0	2
+1	1	RST_MISSION_CH	0	2
+1	1	RST_SWITCH_CH	0	2
+1	1	RTL_AUTOLAND	0	2
+1	1	RUDDER_ONLY	0	2
+1	1	SCALING_SPEED	15	9
+1	1	SCHED_DEBUG	0	2
+1	1	SERIAL0_BAUD	115	6
+1	1	SERIAL1_BAUD	57	6
+1	1	SERIAL1_PROTOCOL	1	2
+1	1	SERIAL2_BAUD	57	6
+1	1	SERIAL2_PROTOCOL	1	2
+1	1	SERIAL3_BAUD	38	6
+1	1	SERIAL3_PROTOCOL	5	2
+1	1	SERIAL4_BAUD	38	6
+1	1	SERIAL4_PROTOCOL	5	2
+1	1	SR0_EXTRA1	10	4
+1	1	SR0_EXTRA2	1	4
+1	1	SR0_EXTRA3	1	4
+1	1	SR0_EXT_STAT	2	4
+1	1	SR0_PARAMS	10	4
+1	1	SR0_POSITION	3	4
+1	1	SR0_RAW_CTRL	1	4
+1	1	SR0_RAW_SENS	2	4
+1	1	SR0_RC_CHAN	2	4
+1	1	SR1_EXTRA1	1	4
+1	1	SR1_EXTRA2	1	4
+1	1	SR1_EXTRA3	1	4
+1	1	SR1_EXT_STAT	1	4
+1	1	SR1_PARAMS	10	4
+1	1	SR1_POSITION	1	4
+1	1	SR1_RAW_CTRL	1	4
+1	1	SR1_RAW_SENS	1	4
+1	1	SR1_RC_CHAN	1	4
+1	1	SR2_EXTRA1	1	4
+1	1	SR2_EXTRA2	1	4
+1	1	SR2_EXTRA3	1	4
+1	1	SR2_EXT_STAT	1	4
+1	1	SR2_PARAMS	10	4
+1	1	SR2_POSITION	1	4
+1	1	SR2_RAW_CTRL	1	4
+1	1	SR2_RAW_SENS	1	4
+1	1	SR2_RC_CHAN	1	4
+1	1	SR3_EXTRA1	1	4
+1	1	SR3_EXTRA2	1	4
+1	1	SR3_EXTRA3	1	4
+1	1	SR3_EXT_STAT	1	4
+1	1	SR3_PARAMS	10	4
+1	1	SR3_POSITION	1	4
+1	1	SR3_RAW_CTRL	1	4
+1	1	SR3_RAW_SENS	1	4
+1	1	SR3_RC_CHAN	1	4
+1	1	STAB_PITCH_DOWN	2	9
+1	1	STALL_PREVENTION	1	2
+1	1	STEER2SRV_D	0.005	9
+1	1	STEER2SRV_FF	0	9
+1	1	STEER2SRV_I	0.2	9
+1	1	STEER2SRV_IMAX	1500	4
+1	1	STEER2SRV_MINSPD	1	9
+1	1	STEER2SRV_P	1.8	9
+1	1	STEER2SRV_TCONST	0.75	9
+1	1	STICK_MIXING	1	2
+1	1	SYSID_MYGCS	255	4
+1	1	SYSID_SW_TYPE	0	2
+1	1	SYSID_THISMAV	1	4
+1	1	SYS_NUM_RESETS	1	4
+1	1	TECS_CLMB_MAX	5	9
+1	1	TECS_HGT_OMEGA	3	9
+1	1	TECS_INTEG_GAIN	0.1	9
+1	1	TECS_LAND_ARSPD	-1	9
+1	1	TECS_LAND_DAMP	0.5	9
+1	1	TECS_LAND_PMAX	10	2
+1	1	TECS_LAND_SINK	0.25	9
+1	1	TECS_LAND_SPDWGT	1	9
+1	1	TECS_LAND_TCONST	2	9
+1	1	TECS_LAND_THR	-1	9
+1	1	TECS_PITCH_MAX	0	2
+1	1	TECS_PITCH_MIN	0	2
+1	1	TECS_PTCH_DAMP	0	9
+1	1	TECS_RLL2THR	10	9
+1	1	TECS_SINK_MAX	5	9
+1	1	TECS_SINK_MIN	2	9
+1	1	TECS_SPDWEIGHT	1	9
+1	1	TECS_SPD_OMEGA	2	9
+1	1	TECS_THR_DAMP	0.5	9
+1	1	TECS_TIME_CONST	5	9
+1	1	TECS_VERT_ACC	7	9
+1	1	TELEM_DELAY	0	2
+1	1	TERRAIN_ENABLE	1	2
+1	1	TERRAIN_FOLLOW	0	2
+1	1	TERRAIN_LOOKAHD	2000	4
+1	1	TERRAIN_SPACING	100	4
+1	1	THROTTLE_NUDGE	1	2
+1	1	THR_FAILSAFE	1	2
+1	1	THR_FS_VALUE	950	4
+1	1	THR_MAX	75	2
+1	1	THR_MIN	0	2
+1	1	THR_PASS_STAB	0	2
+1	1	THR_SLEWRATE	100	2
+1	1	THR_SUPP_MAN	0	2
+1	1	TKOFF_FLAP_PCNT	0	2
+1	1	TKOFF_ROTATE_SPD	0	9
+1	1	TKOFF_TDRAG_ELEV	0	2
+1	1	TKOFF_TDRAG_SPD1	0	9
+1	1	TKOFF_THR_DELAY	2	2
+1	1	TKOFF_THR_MAX	0	2
+1	1	TKOFF_THR_MINACC	0	9
+1	1	TKOFF_THR_MINSPD	0	9
+1	1	TKOFF_THR_SLEW	0	2
+1	1	TRIM_ARSPD_CM	1200	6
+1	1	TRIM_AUTO	0	2
+1	1	TRIM_PITCH_CD	0	4
+1	1	TRIM_RC_AT_START	0	2
+1	1	TRIM_THROTTLE	45	2
+1	1	VTAIL_OUTPUT	0	2
+1	1	WP_LOITER_RAD	60	4
+1	1	WP_MAX_RADIUS	0	4
+1	1	WP_RADIUS	90	4
+1	1	YAW2SRV_DAMP	0	9
+1	1	YAW2SRV_IMAX	1500	4
+1	1	YAW2SRV_INT	0	9
+1	1	YAW2SRV_RLL	1	9
+1	1	YAW2SRV_SLIP	0	9
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -72,6 +72,7 @@ float MockLink::_vehicleLongitude = -122.08794f;
 float MockLink::_vehicleAltitude =  2.5f;

 const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
+const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
 const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";

 MockLink::MockLink(MockConfiguration* config)
@@ -85,6 +86,7 @@ MockLink::MockLink(MockConfiguration* config)
    , _mavBaseMode(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)
    , _mavState(MAV_STATE_STANDBY)
    , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _vehicleType(MAV_TYPE_QUADROTOR)
    , _fileServer(NULL)
    , _sendStatusText(false)
    , _apmSendHomePositionOnEmptyList(false)
@@ -93,6 +95,7 @@ MockLink::MockLink(MockConfiguration* config)
    _config = config;
    if (_config) {
        _firmwareType = config->firmwareType();
+        _vehicleType = config->vehicleType();
        _sendStatusText = config->sendStatusText();
    }

@@ -113,7 +116,6 @@ MockLink::MockLink(MockConfiguration* config)

 MockLink::~MockLink(void)
 {
-    qDebug() << "MockLink destructor";
    _disconnect();
 }

@@ -200,7 +202,18 @@ void MockLink::_run50HzTasks(void)

 void MockLink::_loadParams(void)
 {
-    QFile paramFile(":/unittest/MockLink.params");
+    QFile paramFile;
+
+    if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+        if (_vehicleType == MAV_TYPE_FIXED_WING) {
+            paramFile.setFileName(":/unittest/APMArduPlaneMockLink.params");
+        } else {
+            paramFile.setFileName(":/unittest/APMArduCopterMockLink.params");
+        }
+    } else {
+        paramFile.setFileName(":/unittest/PX4MockLink.params");
+    }
+

    bool success = paramFile.open(QFile::ReadOnly);
    Q_UNUSED(success);
@@ -234,11 +247,21 @@ void MockLink::_loadParams(void)
            case MAV_PARAM_TYPE_INT32:
                paramValue = QVariant(valStr.toInt());
                break;
+            case MAV_PARAM_TYPE_UINT16:
+                paramValue = QVariant((quint16)valStr.toUInt());
+                break;
+            case MAV_PARAM_TYPE_INT16:
+                paramValue = QVariant((qint16)valStr.toInt());
+                break;
+            case MAV_PARAM_TYPE_UINT8:
+                paramValue = QVariant((quint8)valStr.toUInt());
+                break;
            case MAV_PARAM_TYPE_INT8:
-                paramValue = QVariant((unsigned char)valStr.toUInt());
+                paramValue = QVariant((qint8)valStr.toUInt());
                break;
            default:
-                Q_ASSERT(false);
+                qCritical() << "Unknown type" << paramType;
+                paramValue = QVariant(valStr.toInt());
                break;
        }

@@ -405,24 +428,38 @@ void MockLink::_setParamFloatUnionIntoMap(int componentId, const QString& paramN
    QVariant paramVariant;

    switch (paramType) {
-        case MAV_PARAM_TYPE_INT8:
-            paramVariant = QVariant::fromValue(valueUnion.param_int8);
-            break;
-
-        case MAV_PARAM_TYPE_INT32:
-            paramVariant = QVariant::fromValue(valueUnion.param_int32);
-            break;
-
-        case MAV_PARAM_TYPE_UINT32:
-            paramVariant = QVariant::fromValue(valueUnion.param_uint32);
-            break;
-
-        case MAV_PARAM_TYPE_REAL32:
-            paramVariant = QVariant::fromValue(valueUnion.param_float);
-            break;
-
-        default:
-            qCritical() << "Invalid parameter type" << paramType;
+    case MAV_PARAM_TYPE_REAL32:
+        paramVariant = QVariant::fromValue(valueUnion.param_float);
+        break;
+
+    case MAV_PARAM_TYPE_UINT32:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint32);
+        break;
+
+    case MAV_PARAM_TYPE_INT32:
+        paramVariant = QVariant::fromValue(valueUnion.param_int32);
+        break;
+
+    case MAV_PARAM_TYPE_UINT16:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint16);
+        break;
+
+    case MAV_PARAM_TYPE_INT16:
+        paramVariant = QVariant::fromValue(valueUnion.param_int16);
+        break;
+
+    case MAV_PARAM_TYPE_UINT8:
+        paramVariant = QVariant::fromValue(valueUnion.param_uint8);
+        break;
+
+    case MAV_PARAM_TYPE_INT8:
+        paramVariant = QVariant::fromValue(valueUnion.param_int8);
+        break;
+
+    default:
+        qCritical() << "Invalid parameter type" << paramType;
+        paramVariant = QVariant::fromValue(valueUnion.param_int32);
+        break;
    }

    qCDebug(MockLinkLog) << "_setParamFloatUnionIntoMap" << paramName << paramVariant;
@@ -442,36 +479,65 @@ float MockLink::_floatUnionForParam(int componentId, const QString& paramName)
    QVariant paramVar = _mapParamName2Value[componentId][paramName];

    switch (paramType) {
-        case MAV_PARAM_TYPE_INT8:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
-            } else {
-                valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
-            }
-            break;
+    case MAV_PARAM_TYPE_REAL32:
+            valueUnion.param_float = paramVar.toFloat();
+        break;

-        case MAV_PARAM_TYPE_INT32:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = paramVar.toInt();
-            } else {
-                valueUnion.param_int32 = paramVar.toInt();
-            }
-            break;
+    case MAV_PARAM_TYPE_UINT32:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint32 = paramVar.toUInt();
+        }
+        break;

-        case MAV_PARAM_TYPE_UINT32:
-            if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-                valueUnion.param_float = paramVar.toUInt();
-            } else {
-                valueUnion.param_uint32 = paramVar.toUInt();
-            }
-            break;
+    case MAV_PARAM_TYPE_INT32:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int32 = paramVar.toInt();
+        }
+        break;

-        case MAV_PARAM_TYPE_REAL32:
-                valueUnion.param_float = paramVar.toFloat();
-            break;
+    case MAV_PARAM_TYPE_UINT16:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint16 = paramVar.toUInt();
+        }
+        break;

-        default:
-            qCritical() << "Invalid parameter type" << paramType;
+    case MAV_PARAM_TYPE_INT16:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int16 = paramVar.toInt();
+        }
+        break;
+
+    case MAV_PARAM_TYPE_UINT8:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toUInt();
+        } else {
+            valueUnion.param_uint8 = paramVar.toUInt();
+        }
+        break;
+
+    case MAV_PARAM_TYPE_INT8:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = (unsigned char)paramVar.toChar().toLatin1();
+        } else {
+            valueUnion.param_int8 = (unsigned char)paramVar.toChar().toLatin1();
+        }
+        break;
+
+    default:
+        if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+            valueUnion.param_float = paramVar.toInt();
+        } else {
+            valueUnion.param_int32 = paramVar.toInt();
+        }
+        qCritical() << "Invalid parameter type" << paramType;
    }

    return valueUnion.param_float;
@@ -801,6 +867,7 @@ void MockLink::_sendStatusTextMessages(void)
 MockConfiguration::MockConfiguration(const QString& name)
    : LinkConfiguration(name)
    , _firmwareType(MAV_AUTOPILOT_PX4)
+    , _vehicleType(MAV_TYPE_QUADROTOR)
    , _sendStatusText(false)
 {

@@ -810,6 +877,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
    : LinkConfiguration(source)
 {
    _firmwareType =     source->_firmwareType;
+    _vehicleType =       source->_vehicleType;
    _sendStatusText =   source->_sendStatusText;
 }

@@ -824,6 +892,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source)
    }

    _firmwareType =     usource->_firmwareType;
+    _vehicleType =      usource->_vehicleType;
    _sendStatusText =   usource->_sendStatusText;
 }

@@ -831,6 +900,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
 {
    settings.beginGroup(root);
    settings.setValue(_firmwareTypeKey, (int)_firmwareType);
+    settings.setValue(_vehicleTypeKey, (int)_vehicleType);
    settings.setValue(_sendStatusTextKey, _sendStatusText);
    settings.sync();
    settings.endGroup();
@@ -840,6 +910,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
 {
    settings.beginGroup(root);
    _firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
+    _vehicleType = (MAV_TYPE)settings.value(_vehicleTypeKey, (int)MAV_TYPE_QUADROTOR).toInt();
    _sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
    settings.endGroup();
 }

--- a/src/comm/MockLink.h
+++ b/src/comm/MockLink.h
@@ -44,6 +44,9 @@ public:
    MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
    void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }

+    MAV_TYPE vehicleType(void) { return _vehicleType; }
+    void setVehicleType(MAV_TYPE vehicleType) { _vehicleType = vehicleType; }
+
    /// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
    void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
    bool sendStatusText(void) { return _sendStatusText; }
@@ -57,9 +60,11 @@ public:

 private:
    MAV_AUTOPILOT   _firmwareType;
+    MAV_TYPE        _vehicleType;
    bool            _sendStatusText;

    static const char* _firmwareTypeKey;
+    static const char* _vehicleTypeKey;
    static const char* _sendStatusTextKey;
 };

@@ -183,8 +188,9 @@ private:
    uint32_t    _mavCustomMode;
    uint8_t     _mavState;

-    MockConfiguration* _config;
-    MAV_AUTOPILOT _firmwareType;
+    MockConfiguration*  _config;
+    MAV_AUTOPILOT       _firmwareType;
+    MAV_TYPE            _vehicleType;
    
    MockLinkFileServer* _fileServer;


--- a/src/comm/MockLink.params
+++ b/src/comm/MockLink.params
--- a/src/ui/MockLinkConfiguration.cc
+++ b/src/ui/MockLinkConfiguration.cc
@@ -43,11 +43,23 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
            break;
    }

+    switch (config->vehicleType()) {
+        case MAV_TYPE_FIXED_WING:
+            _ui->apmArduPlaneRadio->setChecked(true);
+            break;
+        default:
+            _ui->apmArduCopterRadio->setChecked(true);
+            break;
+    }
+
    _ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());

    connect(_ui->px4Radio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
    connect(_ui->apmRadio,                  &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
    connect(_ui->genericRadio,              &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
+    connect(_ui->apmArduCopterRadio,        &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduCopterRadioClicked);
+    connect(_ui->apmArduPlaneRadio,         &QRadioButton::clicked, this, &MockLinkConfiguration::_apmArduPlaneRadioClicked);
+    connect(_ui->genericRadio,              &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
    connect(_ui->sendStatusTextCheckBox,    &QCheckBox::clicked,    this, &MockLinkConfiguration::_sendStatusTextClicked);
 }

@@ -77,6 +89,20 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
    }
 }

+void MockLinkConfiguration::_apmArduCopterRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setVehicleType(MAV_TYPE_QUADROTOR);
+    }
+}
+
+void MockLinkConfiguration::_apmArduPlaneRadioClicked(bool checked)
+{
+    if (checked) {
+        _config->setVehicleType(MAV_TYPE_FIXED_WING);
+    }
+}
+
 void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
 {
    _config->setSendStatusText(checked);

--- a/src/ui/MockLinkConfiguration.h
+++ b/src/ui/MockLinkConfiguration.h
@@ -44,6 +44,8 @@ private slots:
    void _px4RadioClicked(bool checked);
    void _apmRadioClicked(bool checked);
    void _genericRadioClicked(bool checked);
+    void _apmArduCopterRadioClicked(bool checked);
+    void _apmArduPlaneRadioClicked(bool checked);
    void _sendStatusTextClicked(bool checked);

 private:

--- a/src/ui/MockLinkConfiguration.ui
+++ b/src/ui/MockLinkConfiguration.ui
@@ -6,8 +6,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>187</width>
-    <height>116</height>
+    <width>238</width>
+    <height>188</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -42,6 +42,29 @@
     </property>
    </widget>
   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>APM vehicle type</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QRadioButton" name="apmArduCopterRadio">
+        <property name="text">
+         <string>ArduCopter</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QRadioButton" name="apmArduPlaneRadio">
+        <property name="text">
+         <string>ArduPlane</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
  </layout>
 </widget>
 <resources/>