diff --git a/src/FirmwarePlugin/APM/APMResources.qrc b/src/FirmwarePlugin/APM/APMResources.qrc index 8f08af94795f5152a08e021a8340260063acb484..c99292bd406cb2058a5b31bdd2a8b65a9659c0a2 100644 --- a/src/FirmwarePlugin/APM/APMResources.qrc +++ b/src/FirmwarePlugin/APM/APMResources.qrc @@ -51,7 +51,7 @@ APMParameterFactMetaData.Rover.3.2.xml APMParameterFactMetaData.Sub.3.4.xml APMParameterFactMetaData.Sub.3.5.xml - Copter3.4.OfflineEditing.params + Copter3.5.OfflineEditing.params Plane3.7.OfflineEditing.params diff --git a/src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params b/src/FirmwarePlugin/APM/Copter3.5.OfflineEditing.params similarity index 54% rename from src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params rename to src/FirmwarePlugin/APM/Copter3.5.OfflineEditing.params index b65b77adea34afb462885c9743e46b5e62610a81..e974e5f52f95082ac0f7ec5a59cd47905322da9c 100644 --- a/src/FirmwarePlugin/APM/Copter3.4.OfflineEditing.params +++ b/src/FirmwarePlugin/APM/Copter3.5.OfflineEditing.params @@ -1,17 +1,25 @@ -# Onboard parameters for vehicle 1 +# Onboard parameters for Vehicle 1 # -# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) +# Stack: ArduPilot +# Vehicle: Multi-Rotor +# Version: 3.5.0 rc +# Git Revision: efab409b +# +# Vehicle-Id Component-Id Name Value Type 1 1 ACCEL_Z_D 0.000000000000000000 9 +1 1 ACCEL_Z_FF 0.000000000000000000 9 1 1 ACCEL_Z_FILT 20.000000000000000000 9 1 1 ACCEL_Z_I 1.000000000000000000 9 1 1 ACCEL_Z_IMAX 800.000000000000000000 9 1 1 ACCEL_Z_P 0.500000000000000000 9 1 1 ACRO_BAL_PITCH 1.000000000000000000 9 1 1 ACRO_BAL_ROLL 1.000000000000000000 9 -1 1 ACRO_EXPO 0.300000011920928955 9 +1 1 ACRO_RP_EXPO 0.300000011920928955 9 1 1 ACRO_RP_P 4.500000000000000000 9 +1 1 ACRO_THR_MID 0.000000000000000000 9 1 1 ACRO_TRAINER 2 2 1 1 ACRO_YAW_P 3.000000000000000000 9 +1 1 ACRO_Y_EXPO 0.000000000000000000 9 1 1 ADSB_ENABLE 0 2 1 1 AHRS_COMP_BETA 0.100000001490116119 9 1 1 AHRS_EKF_TYPE 2 2 @@ -20,69 +28,86 @@ 1 1 AHRS_GPS_USE 1 2 1 1 AHRS_ORIENTATION 0 2 1 1 AHRS_RP_P 0.200000002980232239 9 -1 1 AHRS_TRIM_X 0.000000000000000000 9 -1 1 AHRS_TRIM_Y 0.000000000000000000 9 +1 1 AHRS_TRIM_X -0.005487891845405102 9 +1 1 AHRS_TRIM_Y 0.009387995116412640 9 1 1 AHRS_TRIM_Z 0.000000000000000000 9 1 1 AHRS_WIND_MAX 0 2 1 1 AHRS_YAW_P 0.200000002980232239 9 1 1 ANGLE_MAX 3000 4 -1 1 ARMING_CHECK 1 2 +1 1 ARMING_ACCTHRESH 0.750000000000000000 9 +1 1 ARMING_CHECK 1 4 1 1 ATC_ACCEL_P_MAX 110000.000000000000000000 9 1 1 ATC_ACCEL_R_MAX 110000.000000000000000000 9 1 1 ATC_ACCEL_Y_MAX 18000.000000000000000000 9 1 1 ATC_ANGLE_BOOST 1 2 1 1 ATC_ANG_LIM_TC 1.000000000000000000 9 -1 1 ATC_ANG_PIT_P 4.500000000000000000 9 -1 1 ATC_ANG_RLL_P 4.500000000000000000 9 -1 1 ATC_ANG_YAW_P 4.500000000000000000 9 +1 1 ATC_ANG_PIT_P 11.250000000000000000 9 +1 1 ATC_ANG_RLL_P 11.250000000000000000 9 +1 1 ATC_ANG_YAW_P 6.000000000000000000 9 1 1 ATC_RATE_FF_ENAB 1 2 -1 1 ATC_RAT_PIT_D 0.003599999938160181 9 +1 1 ATC_RAT_PIT_D 0.008325000293552876 9 +1 1 ATC_RAT_PIT_FF 0.000000000000000000 9 1 1 ATC_RAT_PIT_FILT 20.000000000000000000 9 -1 1 ATC_RAT_PIT_I 0.090000003576278687 9 -1 1 ATC_RAT_PIT_IMAX 0.444000005722045898 9 -1 1 ATC_RAT_PIT_P 0.135000005364418030 9 -1 1 ATC_RAT_RLL_D 0.003599999938160181 9 +1 1 ATC_RAT_PIT_I 0.126000002026557922 9 +1 1 ATC_RAT_PIT_IMAX 0.222222223877906799 9 +1 1 ATC_RAT_PIT_P 0.126000002026557922 9 +1 1 ATC_RAT_RLL_D 0.011249999515712261 9 +1 1 ATC_RAT_RLL_FF 0.000000000000000000 9 1 1 ATC_RAT_RLL_FILT 20.000000000000000000 9 -1 1 ATC_RAT_RLL_I 0.090000003576278687 9 -1 1 ATC_RAT_RLL_IMAX 0.444000005722045898 9 -1 1 ATC_RAT_RLL_P 0.135000005364418030 9 -1 1 ATC_RAT_YAW_D 0.000000000000000000 9 +1 1 ATC_RAT_RLL_I 0.182249993085861206 9 +1 1 ATC_RAT_RLL_IMAX 0.222222223877906799 9 +1 1 ATC_RAT_RLL_P 0.182249993085861206 9 +1 1 ATC_RAT_YAW_D 0.003600000170990825 9 +1 1 ATC_RAT_YAW_FF 0.000000000000000000 9 1 1 ATC_RAT_YAW_FILT 5.000000000000000000 9 -1 1 ATC_RAT_YAW_I 0.017999999225139618 9 +1 1 ATC_RAT_YAW_I 0.035999998450279236 9 1 1 ATC_RAT_YAW_IMAX 0.222000002861022949 9 -1 1 ATC_RAT_YAW_P 0.180000007152557373 9 +1 1 ATC_RAT_YAW_P 0.359999984502792358 9 1 1 ATC_SLEW_YAW 1000.000000000000000000 9 +1 1 ATC_THR_MIX_MAN 0.500000000000000000 9 1 1 ATC_THR_MIX_MAX 0.500000000000000000 9 1 1 ATC_THR_MIX_MIN 0.100000001490116119 9 1 1 AUTOTUNE_AGGR 0.100000001490116119 9 1 1 AUTOTUNE_AXES 7 2 1 1 AUTOTUNE_MIN_D 0.001000000047497451 9 1 1 AVD_ENABLE 0 2 -1 1 AVOID_ENABLE 1 2 +1 1 AVOID_ANGLE_MAX 1000 4 +1 1 AVOID_DIST_MAX 10.000000000000000000 9 +1 1 AVOID_ENABLE 3 2 +1 1 AVOID_MARGIN 2.000000000000000000 9 1 1 BATT2_AMP_OFFSET 0.000000000000000000 9 1 1 BATT2_AMP_PERVOL 17.000000000000000000 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 10.100000381469726562 9 +1 1 BATT2_SERIAL_NUM -1 6 +1 1 BATT2_VOLT_MULT 10.100000381469726563 9 1 1 BATT2_VOLT_PIN 2 2 1 1 BATT_AMP_OFFSET 0.000000000000000000 9 1 1 BATT_AMP_PERVOLT 17.000000000000000000 9 1 1 BATT_CAPACITY 5100 6 1 1 BATT_CURR_PIN 3 2 1 1 BATT_MONITOR 4 2 +1 1 BATT_SERIAL_NUM -1 6 1 1 BATT_VOLT_MULT 12.020000457763671875 9 1 1 BATT_VOLT_PIN 2 2 +1 1 BATT_VOLT_TIMER 10 2 +1 1 BCN_ALT 0.000000000000000000 9 +1 1 BCN_LATITUDE 0.000000000000000000 9 +1 1 BCN_LONGITUDE 0.000000000000000000 9 +1 1 BCN_ORIENT_YAW 0 4 +1 1 BCN_TYPE 0 2 1 1 BRD_CAN_ENABLE 0 2 -1 1 BRD_IMU_TARGTEMP 112 2 -1 1 BRD_PWM_COUNT 6 2 -1 1 BRD_SAFETYENABLE 0 2 -1 1 BRD_SAFETY_MASK 0 6 +1 1 BRD_IMU_TARGTEMP -1 2 +1 1 BRD_IO_ENABLE 1 2 +1 1 BRD_PWM_COUNT 4 2 +1 1 BRD_SAFETYENABLE 1 2 +1 1 BRD_SAFETY_MASK 16368 6 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 BRD_TYPE 4 2 +1 1 BRD_TYPE 2 2 1 1 BTN_ENABLE 0 2 1 1 CAM_DURATION 10 2 1 1 CAM_FEEDBACK_PIN -1 2 @@ -97,7 +122,7 @@ 1 1 CH10_OPT 0 2 1 1 CH11_OPT 0 2 1 1 CH12_OPT 0 2 -1 1 CH7_OPT 18 2 +1 1 CH7_OPT 4 2 1 1 CH8_OPT 0 2 1 1 CH9_OPT 0 2 1 1 CHUTE_ENABLED 0 2 @@ -105,20 +130,20 @@ 1 1 CIRCLE_RATE 20.000000000000000000 9 1 1 CLI_ENABLED 0 2 1 1 COMPASS_AUTODEC 1 2 -1 1 COMPASS_CAL_FIT 8.000000000000000000 9 +1 1 COMPASS_CAL_FIT 16.000000000000000000 9 1 1 COMPASS_DEC 0.000000000000000000 9 -1 1 COMPASS_DEV_ID 73225 6 -1 1 COMPASS_DEV_ID2 66826 6 -1 1 COMPASS_DEV_ID3 263178 6 -1 1 COMPASS_DIA2_X 1.070561408996582031 9 -1 1 COMPASS_DIA2_Y 0.934641718864440918 9 -1 1 COMPASS_DIA2_Z 0.959703207015991211 9 -1 1 COMPASS_DIA3_X 1.000000000000000000 9 -1 1 COMPASS_DIA3_Y 1.000000000000000000 9 -1 1 COMPASS_DIA3_Z 1.000000000000000000 9 -1 1 COMPASS_DIA_X 0.950750410556793213 9 -1 1 COMPASS_DIA_Y 0.820533096790313721 9 -1 1 COMPASS_DIA_Z 1.053607583045959473 9 +1 1 COMPASS_DEV_ID 466441 6 +1 1 COMPASS_DEV_ID2 131594 6 +1 1 COMPASS_DEV_ID3 0 6 +1 1 COMPASS_DIA2_X 0.990296721458435059 9 +1 1 COMPASS_DIA2_Y 0.971784174442291260 9 +1 1 COMPASS_DIA2_Z 1.007365465164184570 9 +1 1 COMPASS_DIA3_X 0.000000000000000000 9 +1 1 COMPASS_DIA3_Y 0.000000000000000000 9 +1 1 COMPASS_DIA3_Z 0.000000000000000000 9 +1 1 COMPASS_DIA_X 0.947009563446044922 9 +1 1 COMPASS_DIA_Y 0.937935292720794678 9 +1 1 COMPASS_DIA_Z 1.060336470603942871 9 1 1 COMPASS_EXTERN2 0 2 1 1 COMPASS_EXTERN3 0 2 1 1 COMPASS_EXTERNAL 1 2 @@ -133,24 +158,25 @@ 1 1 COMPASS_MOT_X 0.000000000000000000 9 1 1 COMPASS_MOT_Y 0.000000000000000000 9 1 1 COMPASS_MOT_Z 0.000000000000000000 9 -1 1 COMPASS_ODI2_X -0.006595933344215155 9 -1 1 COMPASS_ODI2_Y 0.021764066070318222 9 -1 1 COMPASS_ODI2_Z -0.046624138951301575 9 +1 1 COMPASS_ODI2_X -0.006166019476950169 9 +1 1 COMPASS_ODI2_Y 0.001182210398837924 9 +1 1 COMPASS_ODI2_Z 0.018183957785367966 9 1 1 COMPASS_ODI3_X 0.000000000000000000 9 1 1 COMPASS_ODI3_Y 0.000000000000000000 9 1 1 COMPASS_ODI3_Z 0.000000000000000000 9 -1 1 COMPASS_ODI_X -0.012880827300250530 9 -1 1 COMPASS_ODI_Y 0.000514347339048982 9 -1 1 COMPASS_ODI_Z 0.017157316207885742 9 -1 1 COMPASS_OFS2_X 84.050094604492187500 9 -1 1 COMPASS_OFS2_Y 206.557006835937500000 9 -1 1 COMPASS_OFS2_Z -23.648975372314453125 9 +1 1 COMPASS_ODI_X -0.013673859648406506 9 +1 1 COMPASS_ODI_Y 0.001898076618090272 9 +1 1 COMPASS_ODI_Z -0.007604577112942934 9 +1 1 COMPASS_OFFS_MAX 600 4 +1 1 COMPASS_OFS2_X 280.823242187500000000 9 +1 1 COMPASS_OFS2_Y 87.670928955078125000 9 +1 1 COMPASS_OFS2_Z -469.461639404296875000 9 1 1 COMPASS_OFS3_X 0.000000000000000000 9 1 1 COMPASS_OFS3_Y 0.000000000000000000 9 1 1 COMPASS_OFS3_Z 0.000000000000000000 9 -1 1 COMPASS_OFS_X -117.674423217773437500 9 -1 1 COMPASS_OFS_Y -16.476613998413085938 9 -1 1 COMPASS_OFS_Z -14.397478103637695312 9 +1 1 COMPASS_OFS_X -112.272964477539062500 9 +1 1 COMPASS_OFS_Y -5.009645462036132813 9 +1 1 COMPASS_OFS_Z 34.276287078857421875 9 1 1 COMPASS_ORIENT 0 2 1 1 COMPASS_ORIENT2 0 2 1 1 COMPASS_ORIENT3 0 2 @@ -158,11 +184,15 @@ 1 1 COMPASS_USE 1 2 1 1 COMPASS_USE2 1 2 1 1 COMPASS_USE3 1 2 +1 1 DEV_OPTIONS 0 6 1 1 DISARM_DELAY 10 2 1 1 EK2_ABIAS_P_NSE 0.004999999888241291 9 1 1 EK2_ACC_P_NSE 0.600000023841857910 9 1 1 EK2_ALT_M_NSE 3.000000000000000000 9 1 1 EK2_ALT_SOURCE 0 2 +1 1 EK2_BCN_DELAY 50 2 +1 1 EK2_BCN_I_GTE 500 4 +1 1 EK2_BCN_M_NSE 1.000000000000000000 9 1 1 EK2_CHECK_SCALE 100 4 1 1 EK2_EAS_I_GATE 400 4 1 1 EK2_EAS_M_NSE 1.399999976158142090 9 @@ -174,7 +204,7 @@ 1 1 EK2_GLITCH_RAD 25 2 1 1 EK2_GPS_CHECK 31 2 1 1 EK2_GPS_DELAY 220 4 -1 1 EK2_GPS_TYPE 1 2 +1 1 EK2_GPS_TYPE 0 2 1 1 EK2_GSCL_P_NSE 0.000500000023748726 9 1 1 EK2_GYRO_P_NSE 0.029999999329447746 9 1 1 EK2_HGT_DELAY 60 4 @@ -185,6 +215,7 @@ 1 1 EK2_MAGE_P_NSE 0.001000000047497451 9 1 1 EK2_MAG_CAL 3 2 1 1 EK2_MAG_I_GATE 300 4 +1 1 EK2_MAG_MASK 0 2 1 1 EK2_MAG_M_NSE 0.050000000745058060 9 1 1 EK2_MAX_FLOW 2.500000000000000000 9 1 1 EK2_NOAID_M_NSE 10.000000000000000000 9 @@ -193,7 +224,9 @@ 1 1 EK2_RNG_I_GATE 500 4 1 1 EK2_RNG_M_NSE 0.500000000000000000 9 1 1 EK2_RNG_USE_HGT -1 2 +1 1 EK2_RNG_USE_SPD 2.000000000000000000 9 1 1 EK2_TAU_OUTPUT 25 2 +1 1 EK2_TERR_GRAD 0.100000001490116119 9 1 1 EK2_VELD_M_NSE 0.699999988079071045 9 1 1 EK2_VELNE_M_NSE 0.500000000000000000 9 1 1 EK2_VEL_I_GATE 500 4 @@ -201,27 +234,31 @@ 1 1 EK2_WIND_P_NSE 0.100000001490116119 9 1 1 EK2_YAW_I_GATE 300 4 1 1 EK2_YAW_M_NSE 0.500000000000000000 9 -1 1 EKF_ENABLE 0 2 -1 1 EPM_ENABLE 0 2 +1 1 EK3_ENABLE 0 2 1 1 ESC_CALIBRATION 0 2 1 1 FENCE_ACTION 1 2 1 1 FENCE_ALT_MAX 100.000000000000000000 9 1 1 FENCE_ENABLE 1 2 1 1 FENCE_MARGIN 2.000000000000000000 9 -1 1 FENCE_RADIUS 182.880004882812500000 9 +1 1 FENCE_RADIUS 300.000000000000000000 9 1 1 FENCE_TOTAL 0 2 1 1 FENCE_TYPE 3 2 +1 1 FLOW_BUS_ID 0 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 2 2 +1 1 FLOW_POS_X 0.000000000000000000 9 +1 1 FLOW_POS_Y 0.000000000000000000 9 +1 1 FLOW_POS_Z 0.000000000000000000 9 +1 1 FLTMODE1 0 2 1 1 FLTMODE2 5 2 1 1 FLTMODE3 3 2 1 1 FLTMODE4 6 2 1 1 FLTMODE5 6 2 1 1 FLTMODE6 6 2 -1 1 FRAME 2 2 +1 1 FRAME_CLASS 1 2 +1 1 FRAME_TYPE 2 2 1 1 FS_BATT_ENABLE 1 2 1 1 FS_BATT_MAH 0.000000000000000000 9 1 1 FS_BATT_VOLTAGE 10.500000000000000000 9 @@ -232,13 +269,20 @@ 1 1 FS_THR_ENABLE 1 2 1 1 FS_THR_VALUE 975 4 1 1 GCS_PID_MASK 0 4 -1 1 GND_ABS_PRESS 100825.437500000000000000 9 +1 1 GND_ABS_PRESS 101975.898437500000000000 9 +1 1 GND_ABS_PRESS2 0.000000000000000000 9 +1 1 GND_ABS_PRESS3 0.000000000000000000 9 1 1 GND_ALT_OFFSET 0.000000000000000000 9 1 1 GND_EFFECT_COMP 0 2 +1 1 GND_EXT_BUS -1 2 1 1 GND_PRIMARY 0 2 -1 1 GND_TEMP 26.560714721679687500 9 +1 1 GND_TEMP 0.000000000000000000 9 1 1 GPS_AUTO_CONFIG 1 2 1 1 GPS_AUTO_SWITCH 1 2 +1 1 GPS_BLEND_MASK 5 2 +1 1 GPS_BLEND_TC 10.000000000000000000 9 +1 1 GPS_DELAY_MS 0 4 +1 1 GPS_DELAY_MS2 0 4 1 1 GPS_GNSS_MODE 0 2 1 1 GPS_GNSS_MODE2 0 2 1 1 GPS_HDOP_GOOD 250 4 @@ -246,44 +290,69 @@ 1 1 GPS_MIN_DGPS 100 2 1 1 GPS_MIN_ELEV -100 2 1 1 GPS_NAVFILTER 8 2 +1 1 GPS_POS1_X 0.000000000000000000 9 +1 1 GPS_POS1_Y 0.000000000000000000 9 +1 1 GPS_POS1_Z 0.000000000000000000 9 +1 1 GPS_POS2_X 0.000000000000000000 9 +1 1 GPS_POS2_Y 0.000000000000000000 9 +1 1 GPS_POS2_Z 0.000000000000000000 9 +1 1 GPS_RATE_MS 200 4 +1 1 GPS_RATE_MS2 200 4 1 1 GPS_RAW_DATA 0 2 1 1 GPS_SAVE_CFG 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 0.000000000000000000 9 -1 1 INS_ACC2OFFS_Y 0.000000000000000000 9 -1 1 INS_ACC2OFFS_Z 0.000000000000000000 9 -1 1 INS_ACC2SCAL_X 1.000000000000000000 9 -1 1 INS_ACC2SCAL_Y 1.000000000000000000 9 -1 1 INS_ACC2SCAL_Z 1.000000000000000000 9 +1 1 GRIP_ENABLE 0 2 +1 1 INS_ACC2OFFS_X 0.465681284666061401 9 +1 1 INS_ACC2OFFS_Y -0.163094490766525269 9 +1 1 INS_ACC2OFFS_Z 0.841708540916442871 9 +1 1 INS_ACC2SCAL_X 1.025157928466796875 9 +1 1 INS_ACC2SCAL_Y 1.017194271087646484 9 +1 1 INS_ACC2SCAL_Z 1.034052014350891113 9 +1 1 INS_ACC2_ID 1114634 6 1 1 INS_ACC3OFFS_X 0.000000000000000000 9 1 1 INS_ACC3OFFS_Y 0.000000000000000000 9 1 1 INS_ACC3OFFS_Z 0.000000000000000000 9 1 1 INS_ACC3SCAL_X 0.000000000000000000 9 1 1 INS_ACC3SCAL_Y 0.000000000000000000 9 1 1 INS_ACC3SCAL_Z 0.000000000000000000 9 +1 1 INS_ACC3_ID 0 6 1 1 INS_ACCEL_FILTER 20 2 -1 1 INS_ACCOFFS_X 0.000000000000000000 9 -1 1 INS_ACCOFFS_Y 0.000000000000000000 9 -1 1 INS_ACCOFFS_Z 0.000000000000000000 9 -1 1 INS_ACCSCAL_X 1.000000000000000000 9 -1 1 INS_ACCSCAL_Y 1.000000000000000000 9 -1 1 INS_ACCSCAL_Z 1.000000000000000000 9 +1 1 INS_ACCOFFS_X -0.064211823046207428 9 +1 1 INS_ACCOFFS_Y -0.180485680699348450 9 +1 1 INS_ACCOFFS_Z -0.311422348022460938 9 +1 1 INS_ACCSCAL_X 0.995959579944610596 9 +1 1 INS_ACCSCAL_Y 1.004220247268676758 9 +1 1 INS_ACCSCAL_Z 0.992680013179779053 9 1 1 INS_ACC_BODYFIX 2 2 -1 1 INS_GYR2OFFS_X -0.034256070852279663 9 -1 1 INS_GYR2OFFS_Y -0.001716651604510844 9 -1 1 INS_GYR2OFFS_Z -0.009961522184312344 9 +1 1 INS_ACC_ID 1246218 6 +1 1 INS_FAST_SAMPLE 0 2 +1 1 INS_GYR2OFFS_X 0.033170118927955627 9 +1 1 INS_GYR2OFFS_Y -0.008167488500475883 9 +1 1 INS_GYR2OFFS_Z -0.009966009296476841 9 +1 1 INS_GYR2_ID 2228490 6 1 1 INS_GYR3OFFS_X 0.000000000000000000 9 1 1 INS_GYR3OFFS_Y 0.000000000000000000 9 1 1 INS_GYR3OFFS_Z 0.000000000000000000 9 -1 1 INS_GYROFFS_X -0.039947438985109329 9 -1 1 INS_GYROFFS_Y 0.001942739239893854 9 -1 1 INS_GYROFFS_Z -0.002419092459604144 9 +1 1 INS_GYR3_ID 0 6 +1 1 INS_GYROFFS_X -0.020668458193540573 9 +1 1 INS_GYROFFS_Y 0.071772724390029907 9 +1 1 INS_GYROFFS_Z -0.002931264694780111 9 1 1 INS_GYRO_FILTER 20 2 1 1 INS_GYR_CAL 1 2 -1 1 INS_PRODUCT_ID 6 4 +1 1 INS_GYR_ID 2163722 6 +1 1 INS_POS1_X 0.000000000000000000 9 +1 1 INS_POS1_Y 0.000000000000000000 9 +1 1 INS_POS1_Z 0.000000000000000000 9 +1 1 INS_POS2_X 0.000000000000000000 9 +1 1 INS_POS2_Y 0.000000000000000000 9 +1 1 INS_POS2_Z 0.000000000000000000 9 +1 1 INS_POS3_X 0.000000000000000000 9 +1 1 INS_POS3_Y 0.000000000000000000 9 +1 1 INS_POS3_Z 0.000000000000000000 9 +1 1 INS_PRODUCT_ID 5 4 1 1 INS_STILL_THRESH 2.500000000000000000 9 1 1 INS_TRIM_OPTION 1 2 1 1 INS_USE 1 2 @@ -298,6 +367,7 @@ 1 1 LOG_BITMASK 176126 6 1 1 LOG_DISARMED 0 2 1 1 LOG_FILE_BUFSIZE 16 2 +1 1 LOG_FILE_DSRMROT 0 2 1 1 LOG_REPLAY 0 2 1 1 MAG_ENABLE 1 2 1 1 MIS_RESTART 0 2 @@ -307,7 +377,7 @@ 1 1 MNT_ANGMAX_TIL 0 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_ANGMIN_TIL -9000 4 1 1 MNT_DEFLT_MODE 3 2 1 1 MNT_JSTICK_SPD 0 2 1 1 MNT_LEAD_PTCH 0.000000000000000000 9 @@ -317,14 +387,14 @@ 1 1 MNT_NEUTRAL_Z 0.000000000000000000 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_RC_IN_TILT 6 2 1 1 MNT_RETRACT_X 0.000000000000000000 9 1 1 MNT_RETRACT_Y 0.000000000000000000 9 1 1 MNT_RETRACT_Z 0.000000000000000000 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 MNT_TYPE 1 2 1 1 MOT_BAT_CURR_MAX 0.000000000000000000 9 1 1 MOT_BAT_CURR_TC 5.000000000000000000 9 1 1 MOT_BAT_VOLT_MAX 0.000000000000000000 9 @@ -333,13 +403,16 @@ 1 1 MOT_PWM_MAX 0 4 1 1 MOT_PWM_MIN 0 4 1 1 MOT_PWM_TYPE 0 2 +1 1 MOT_SAFE_DISARM 0 2 1 1 MOT_SPIN_ARM 0.100000001490116119 9 1 1 MOT_SPIN_MAX 0.949999988079071045 9 1 1 MOT_SPIN_MIN 0.150000005960464478 9 +1 1 MOT_SPOOL_TIME 0.500000000000000000 9 1 1 MOT_THST_EXPO 0.649999976158142090 9 -1 1 MOT_THST_HOVER 0.500000000000000000 9 +1 1 MOT_THST_HOVER 0.472181797027587891 9 1 1 MOT_YAW_HEADROOM 200 4 -1 1 NTF_BUZZ_ENABLE 0 2 +1 1 NTF_BUZZ_ENABLE 1 2 +1 1 NTF_DISPLAY_TYPE 0 2 1 1 NTF_LED_BRIGHT 3 2 1 1 NTF_LED_OVERRIDE 0 2 1 1 PHLD_BRAKE_ANGLE 3000 4 @@ -353,99 +426,114 @@ 1 1 PLND_ENABLED 0 2 1 1 POS_XY_P 1.000000000000000000 9 1 1 POS_Z_P 1.000000000000000000 9 +1 1 PRX_IGN_ANG1 0 4 +1 1 PRX_IGN_ANG2 0 4 +1 1 PRX_IGN_ANG3 0 4 +1 1 PRX_IGN_ANG4 0 4 +1 1 PRX_IGN_ANG5 0 4 +1 1 PRX_IGN_ANG6 0 4 +1 1 PRX_IGN_WID1 0 2 +1 1 PRX_IGN_WID2 0 2 +1 1 PRX_IGN_WID3 0 2 +1 1 PRX_IGN_WID4 0 2 +1 1 PRX_IGN_WID5 0 2 +1 1 PRX_IGN_WID6 0 2 +1 1 PRX_ORIENT 0 2 +1 1 PRX_TYPE 0 2 +1 1 PRX_YAW_CORR 22 4 1 1 PSC_ACC_XY_FILT 2.000000000000000000 9 1 1 RALLY_INCL_HOME 1 2 1 1 RALLY_LIMIT_KM 0.300000011920928955 9 1 1 RALLY_TOTAL 0 2 1 1 RC10_DZ 0 4 -1 1 RC10_FUNCTION 0 2 1 1 RC10_MAX 2000 4 1 1 RC10_MIN 1000 4 -1 1 RC10_REV 1 2 +1 1 RC10_REVERSED 0 2 1 1 RC10_TRIM 1500 4 1 1 RC11_DZ 0 4 -1 1 RC11_FUNCTION 0 2 1 1 RC11_MAX 2000 4 1 1 RC11_MIN 1000 4 -1 1 RC11_REV 1 2 +1 1 RC11_REVERSED 0 2 1 1 RC11_TRIM 1500 4 1 1 RC12_DZ 0 4 -1 1 RC12_FUNCTION 0 2 1 1 RC12_MAX 2000 4 1 1 RC12_MIN 1000 4 -1 1 RC12_REV 1 2 +1 1 RC12_REVERSED 0 2 1 1 RC12_TRIM 1500 4 1 1 RC13_DZ 0 4 -1 1 RC13_FUNCTION 0 2 1 1 RC13_MAX 2000 4 1 1 RC13_MIN 1000 4 -1 1 RC13_REV 1 2 +1 1 RC13_REVERSED 0 2 1 1 RC13_TRIM 1500 4 1 1 RC14_DZ 0 4 -1 1 RC14_FUNCTION 0 2 1 1 RC14_MAX 2000 4 1 1 RC14_MIN 1000 4 -1 1 RC14_REV 1 2 +1 1 RC14_REVERSED 0 2 1 1 RC14_TRIM 1500 4 -1 1 RC1_DZ 30 4 -1 1 RC1_MAX 2006 4 -1 1 RC1_MIN 982 4 -1 1 RC1_REV 1 2 -1 1 RC1_TRIM 1495 4 -1 1 RC2_DZ 30 4 -1 1 RC2_MAX 2006 4 -1 1 RC2_MIN 982 4 -1 1 RC2_REV 1 2 -1 1 RC2_TRIM 1494 4 +1 1 RC15_DZ 0 4 +1 1 RC15_MAX 1900 4 +1 1 RC15_MIN 1100 4 +1 1 RC15_REVERSED 0 2 +1 1 RC15_TRIM 1500 4 +1 1 RC16_DZ 0 4 +1 1 RC16_MAX 1900 4 +1 1 RC16_MIN 1100 4 +1 1 RC16_REVERSED 0 2 +1 1 RC16_TRIM 1500 4 +1 1 RC1_DZ 10 4 +1 1 RC1_MAX 2014 4 +1 1 RC1_MIN 990 4 +1 1 RC1_REVERSED 0 2 +1 1 RC1_TRIM 1503 4 +1 1 RC2_DZ 10 4 +1 1 RC2_MAX 2015 4 +1 1 RC2_MIN 991 4 +1 1 RC2_REVERSED 0 2 +1 1 RC2_TRIM 1504 4 1 1 RC3_DZ 30 4 -1 1 RC3_MAX 2006 4 -1 1 RC3_MIN 982 4 -1 1 RC3_REV 1 2 -1 1 RC3_TRIM 982 4 -1 1 RC4_DZ 40 4 -1 1 RC4_MAX 2006 4 -1 1 RC4_MIN 982 4 -1 1 RC4_REV 1 2 -1 1 RC4_TRIM 1494 4 +1 1 RC3_MAX 2016 4 +1 1 RC3_MIN 992 4 +1 1 RC3_REVERSED 0 2 +1 1 RC3_TRIM 992 4 +1 1 RC4_DZ 10 4 +1 1 RC4_MAX 2015 4 +1 1 RC4_MIN 992 4 +1 1 RC4_REVERSED 0 2 +1 1 RC4_TRIM 1501 4 1 1 RC5_DZ 0 4 -1 1 RC5_FUNCTION 0 2 -1 1 RC5_MAX 2000 4 -1 1 RC5_MIN 1000 4 -1 1 RC5_REV 1 2 -1 1 RC5_TRIM 1500 4 +1 1 RC5_MAX 2016 4 +1 1 RC5_MIN 991 4 +1 1 RC5_REVERSED 0 2 +1 1 RC5_TRIM 1503 4 1 1 RC6_DZ 0 4 -1 1 RC6_FUNCTION 0 2 -1 1 RC6_MAX 2000 4 -1 1 RC6_MIN 1000 4 -1 1 RC6_REV 1 2 -1 1 RC6_TRIM 1500 4 +1 1 RC6_MAX 2016 4 +1 1 RC6_MIN 991 4 +1 1 RC6_REVERSED 0 2 +1 1 RC6_TRIM 1503 4 1 1 RC7_DZ 0 4 -1 1 RC7_FUNCTION 0 2 -1 1 RC7_MAX 2000 4 -1 1 RC7_MIN 1000 4 -1 1 RC7_REV 1 2 -1 1 RC7_TRIM 1500 4 +1 1 RC7_MAX 2016 4 +1 1 RC7_MIN 991 4 +1 1 RC7_REVERSED 0 2 +1 1 RC7_TRIM 1503 4 1 1 RC8_DZ 0 4 -1 1 RC8_FUNCTION 0 2 -1 1 RC8_MAX 2000 4 -1 1 RC8_MIN 1000 4 -1 1 RC8_REV 1 2 -1 1 RC8_TRIM 1500 4 +1 1 RC8_MAX 2015 4 +1 1 RC8_MIN 991 4 +1 1 RC8_REVERSED 0 2 +1 1 RC8_TRIM 1503 4 1 1 RC9_DZ 0 4 -1 1 RC9_FUNCTION 0 2 1 1 RC9_MAX 2000 4 1 1 RC9_MIN 1000 4 -1 1 RC9_REV 1 2 +1 1 RC9_REVERSED 0 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_FEEL_RP 25 2 1 1 RC_SPEED 490 4 1 1 RELAY_DEFAULT 0 2 -1 1 RELAY_PIN -1 2 -1 1 RELAY_PIN2 -1 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_ADDR 0 2 @@ -454,7 +542,11 @@ 1 1 RNGFND2_MAX_CM 700 4 1 1 RNGFND2_MIN_CM 20 4 1 1 RNGFND2_OFFSET 0.000000000000000000 9 +1 1 RNGFND2_ORIENT 25 2 1 1 RNGFND2_PIN -1 2 +1 1 RNGFND2_POS_X 0.000000000000000000 9 +1 1 RNGFND2_POS_Y 0.000000000000000000 9 +1 1 RNGFND2_POS_Z 0.000000000000000000 9 1 1 RNGFND2_RMETRIC 1 2 1 1 RNGFND2_SCALING 3.000000000000000000 9 1 1 RNGFND2_SETTLE 0 4 @@ -467,28 +559,34 @@ 1 1 RNGFND_MAX_CM 700 4 1 1 RNGFND_MIN_CM 20 4 1 1 RNGFND_OFFSET 0.000000000000000000 9 +1 1 RNGFND_ORIENT 25 2 1 1 RNGFND_PIN -1 2 +1 1 RNGFND_POS_X 0.000000000000000000 9 +1 1 RNGFND_POS_Y 0.000000000000000000 9 +1 1 RNGFND_POS_Z 0.000000000000000000 9 1 1 RNGFND_PWRRNG 0 4 1 1 RNGFND_RMETRIC 1 2 1 1 RNGFND_SCALING 3.000000000000000000 9 1 1 RNGFND_SETTLE 0 4 1 1 RNGFND_STOP_PIN -1 2 1 1 RNGFND_TYPE 0 2 +1 1 RPM2_PIN -1 2 1 1 RPM2_SCALING 1.000000000000000000 9 1 1 RPM2_TYPE 0 2 1 1 RPM_MAX 100000.000000000000000000 9 1 1 RPM_MIN 10.000000000000000000 9 1 1 RPM_MIN_QUAL 0.500000000000000000 9 +1 1 RPM_PIN 54 2 1 1 RPM_SCALING 1.000000000000000000 9 1 1 RPM_TYPE 0 2 -1 1 RSSI_ANA_PIN 11 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 3.299999952316284180 9 +1 1 RSSI_PIN_HIGH 5.000000000000000000 9 1 1 RSSI_PIN_LOW 0.000000000000000000 9 -1 1 RSSI_TYPE 1 2 -1 1 RTL_ALT 2000 4 +1 1 RSSI_TYPE 0 2 +1 1 RTL_ALT 100 4 1 1 RTL_ALT_FINAL 0 4 1 1 RTL_CLIMB_MIN 0 4 1 1 RTL_CONE_SLOPE 3.000000000000000000 9 @@ -506,9 +604,92 @@ 1 1 SERIAL3_PROTOCOL 5 2 1 1 SERIAL4_BAUD 38 6 1 1 SERIAL4_PROTOCOL 5 2 -1 1 SERIAL5_BAUD 921600 6 -1 1 SERIAL5_PROTOCOL 1 2 +1 1 SERIAL5_BAUD 57 6 +1 1 SERIAL5_PROTOCOL -1 2 +1 1 SERVO10_FUNCTION 0 2 +1 1 SERVO10_MAX 2000 4 +1 1 SERVO10_MIN 1000 4 +1 1 SERVO10_REVERSED 0 2 +1 1 SERVO10_TRIM 1500 4 +1 1 SERVO11_FUNCTION 0 2 +1 1 SERVO11_MAX 2000 4 +1 1 SERVO11_MIN 1000 4 +1 1 SERVO11_REVERSED 0 2 +1 1 SERVO11_TRIM 1500 4 +1 1 SERVO12_FUNCTION 0 2 +1 1 SERVO12_MAX 2000 4 +1 1 SERVO12_MIN 1000 4 +1 1 SERVO12_REVERSED 0 2 +1 1 SERVO12_TRIM 1500 4 +1 1 SERVO13_FUNCTION 0 2 +1 1 SERVO13_MAX 2000 4 +1 1 SERVO13_MIN 1000 4 +1 1 SERVO13_REVERSED 0 2 +1 1 SERVO13_TRIM 1500 4 +1 1 SERVO14_FUNCTION 0 2 +1 1 SERVO14_MAX 2000 4 +1 1 SERVO14_MIN 1000 4 +1 1 SERVO14_REVERSED 0 2 +1 1 SERVO14_TRIM 1500 4 +1 1 SERVO15_FUNCTION 0 2 +1 1 SERVO15_MAX 1900 4 +1 1 SERVO15_MIN 1100 4 +1 1 SERVO15_REVERSED 0 2 +1 1 SERVO15_TRIM 1500 4 +1 1 SERVO16_FUNCTION 0 2 +1 1 SERVO16_MAX 1900 4 +1 1 SERVO16_MIN 1100 4 +1 1 SERVO16_REVERSED 0 2 +1 1 SERVO16_TRIM 1500 4 +1 1 SERVO1_FUNCTION 33 2 +1 1 SERVO1_MAX 2015 4 +1 1 SERVO1_MIN 991 4 +1 1 SERVO1_REVERSED 0 2 +1 1 SERVO1_TRIM 1503 4 +1 1 SERVO2_FUNCTION 34 2 +1 1 SERVO2_MAX 2016 4 +1 1 SERVO2_MIN 991 4 +1 1 SERVO2_REVERSED 0 2 +1 1 SERVO2_TRIM 1503 4 +1 1 SERVO3_FUNCTION 35 2 +1 1 SERVO3_MAX 2016 4 +1 1 SERVO3_MIN 992 4 +1 1 SERVO3_REVERSED 0 2 +1 1 SERVO3_TRIM 992 4 +1 1 SERVO4_FUNCTION 36 2 +1 1 SERVO4_MAX 2015 4 +1 1 SERVO4_MIN 991 4 +1 1 SERVO4_REVERSED 0 2 +1 1 SERVO4_TRIM 1503 4 +1 1 SERVO5_FUNCTION 0 2 +1 1 SERVO5_MAX 2016 4 +1 1 SERVO5_MIN 991 4 +1 1 SERVO5_REVERSED 0 2 +1 1 SERVO5_TRIM 1503 4 +1 1 SERVO6_FUNCTION 0 2 +1 1 SERVO6_MAX 2016 4 +1 1 SERVO6_MIN 991 4 +1 1 SERVO6_REVERSED 0 2 +1 1 SERVO6_TRIM 1503 4 +1 1 SERVO7_FUNCTION 0 2 +1 1 SERVO7_MAX 2016 4 +1 1 SERVO7_MIN 991 4 +1 1 SERVO7_REVERSED 0 2 +1 1 SERVO7_TRIM 1503 4 +1 1 SERVO8_FUNCTION 0 2 +1 1 SERVO8_MAX 2000 4 +1 1 SERVO8_MIN 1000 4 +1 1 SERVO8_REVERSED 0 2 +1 1 SERVO8_TRIM 1500 4 +1 1 SERVO9_FUNCTION 7 2 +1 1 SERVO9_MAX 2000 4 +1 1 SERVO9_MIN 1000 4 +1 1 SERVO9_REVERSED 0 2 +1 1 SERVO9_TRIM 1500 4 +1 1 SERVO_CANESC_BM 0 6 +1 1 SERVO_CANSRV_BM 0 6 1 1 SIMPLE 0 2 +1 1 SPRAY_ENABLE 0 2 1 1 SR0_ADSB 5 4 1 1 SR0_EXTRA1 0 4 1 1 SR0_EXTRA2 0 4 @@ -520,25 +701,25 @@ 1 1 SR0_RAW_SENS 0 4 1 1 SR0_RC_CHAN 0 4 1 1 SR1_ADSB 5 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_EXTRA1 10 4 +1 1 SR1_EXTRA2 10 4 +1 1 SR1_EXTRA3 3 4 +1 1 SR1_EXT_STAT 2 4 +1 1 SR1_PARAMS 10 4 +1 1 SR1_POSITION 3 4 1 1 SR1_RAW_CTRL 0 4 -1 1 SR1_RAW_SENS 0 4 -1 1 SR1_RC_CHAN 0 4 +1 1 SR1_RAW_SENS 2 4 +1 1 SR1_RC_CHAN 2 4 1 1 SR2_ADSB 5 4 -1 1 SR2_EXTRA1 10 4 -1 1 SR2_EXTRA2 10 4 -1 1 SR2_EXTRA3 3 4 -1 1 SR2_EXT_STAT 2 4 -1 1 SR2_PARAMS 10 4 -1 1 SR2_POSITION 3 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 2 4 -1 1 SR2_RC_CHAN 2 4 +1 1 SR2_RAW_SENS 0 4 +1 1 SR2_RC_CHAN 0 4 1 1 SR3_ADSB 5 4 1 1 SR3_EXTRA1 0 4 1 1 SR3_EXTRA2 0 4 @@ -549,7 +730,12 @@ 1 1 SR3_RAW_CTRL 0 4 1 1 SR3_RAW_SENS 0 4 1 1 SR3_RC_CHAN 0 4 +1 1 STAT_BOOTCNT 16 4 +1 1 STAT_FLTTIME 623 6 +1 1 STAT_RESET 20034978 6 +1 1 STAT_RUNTIME 3525 6 1 1 SUPER_SIMPLE 0 2 +1 1 SYSID_ENFORCE 0 2 1 1 SYSID_MYGCS 255 4 1 1 SYSID_SW_MREV 120 4 1 1 SYSID_SW_TYPE 10 2 @@ -570,6 +756,11 @@ 1 1 VEL_XY_IMAX 1000.000000000000000000 9 1 1 VEL_XY_P 1.000000000000000000 9 1 1 VEL_Z_P 5.000000000000000000 9 +1 1 VISO_ORIENT 0 2 +1 1 VISO_POS_X 0.000000000000000000 9 +1 1 VISO_POS_Y 0.000000000000000000 9 +1 1 VISO_POS_Z 0.000000000000000000 9 +1 1 VISO_TYPE 0 2 1 1 WPNAV_ACCEL 250.000000000000000000 9 1 1 WPNAV_ACCEL_Z 100.000000000000000000 9 1 1 WPNAV_LOIT_JERK 1000.000000000000000000 9 @@ -582,4 +773,4 @@ 1 1 WPNAV_SPEED_DN 150.000000000000000000 9 1 1 WPNAV_SPEED_UP 250.000000000000000000 9 1 1 WP_NAVALT_MIN 0.000000000000000000 9 -1 1 WP_YAW_BEHAVIOR 2 2 \ No newline at end of file +1 1 WP_YAW_BEHAVIOR 2 2 diff --git a/src/comm/APMArduCopterMockLink.params b/src/comm/APMArduCopterMockLink.params index efd9b002e0895673f697e0f531f1a4ea48fa3135..e974e5f52f95082ac0f7ec5a59cd47905322da9c 100644 --- a/src/comm/APMArduCopterMockLink.params +++ b/src/comm/APMArduCopterMockLink.params @@ -1,105 +1,182 @@ -# Onboard parameters for system MAV 001 +# Onboard parameters for Vehicle 1 # -# 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 +# Stack: ArduPilot +# Vehicle: Multi-Rotor +# Version: 3.5.0 rc +# Git Revision: efab409b +# +# Vehicle-Id Component-Id Name Value Type +1 1 ACCEL_Z_D 0.000000000000000000 9 +1 1 ACCEL_Z_FF 0.000000000000000000 9 +1 1 ACCEL_Z_FILT 20.000000000000000000 9 +1 1 ACCEL_Z_I 1.000000000000000000 9 +1 1 ACCEL_Z_IMAX 800.000000000000000000 9 +1 1 ACCEL_Z_P 0.500000000000000000 9 +1 1 ACRO_BAL_PITCH 1.000000000000000000 9 +1 1 ACRO_BAL_ROLL 1.000000000000000000 9 +1 1 ACRO_RP_EXPO 0.300000011920928955 9 +1 1 ACRO_RP_P 4.500000000000000000 9 +1 1 ACRO_THR_MID 0.000000000000000000 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 ACRO_YAW_P 3.000000000000000000 9 +1 1 ACRO_Y_EXPO 0.000000000000000000 9 +1 1 ADSB_ENABLE 0 2 +1 1 AHRS_COMP_BETA 0.100000001490116119 9 +1 1 AHRS_EKF_TYPE 2 2 +1 1 AHRS_GPS_GAIN 1.000000000000000000 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_RP_P 0.200000002980232239 9 +1 1 AHRS_TRIM_X -0.005487891845405102 9 +1 1 AHRS_TRIM_Y 0.009387995116412640 9 +1 1 AHRS_TRIM_Z 0.000000000000000000 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 AHRS_YAW_P 0.200000002980232239 9 +1 1 ANGLE_MAX 3000 4 +1 1 ARMING_ACCTHRESH 0.750000000000000000 9 +1 1 ARMING_CHECK 1 4 +1 1 ATC_ACCEL_P_MAX 110000.000000000000000000 9 +1 1 ATC_ACCEL_R_MAX 110000.000000000000000000 9 +1 1 ATC_ACCEL_Y_MAX 18000.000000000000000000 9 +1 1 ATC_ANGLE_BOOST 1 2 +1 1 ATC_ANG_LIM_TC 1.000000000000000000 9 +1 1 ATC_ANG_PIT_P 11.250000000000000000 9 +1 1 ATC_ANG_RLL_P 11.250000000000000000 9 +1 1 ATC_ANG_YAW_P 6.000000000000000000 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 ATC_RAT_PIT_D 0.008325000293552876 9 +1 1 ATC_RAT_PIT_FF 0.000000000000000000 9 +1 1 ATC_RAT_PIT_FILT 20.000000000000000000 9 +1 1 ATC_RAT_PIT_I 0.126000002026557922 9 +1 1 ATC_RAT_PIT_IMAX 0.222222223877906799 9 +1 1 ATC_RAT_PIT_P 0.126000002026557922 9 +1 1 ATC_RAT_RLL_D 0.011249999515712261 9 +1 1 ATC_RAT_RLL_FF 0.000000000000000000 9 +1 1 ATC_RAT_RLL_FILT 20.000000000000000000 9 +1 1 ATC_RAT_RLL_I 0.182249993085861206 9 +1 1 ATC_RAT_RLL_IMAX 0.222222223877906799 9 +1 1 ATC_RAT_RLL_P 0.182249993085861206 9 +1 1 ATC_RAT_YAW_D 0.003600000170990825 9 +1 1 ATC_RAT_YAW_FF 0.000000000000000000 9 +1 1 ATC_RAT_YAW_FILT 5.000000000000000000 9 +1 1 ATC_RAT_YAW_I 0.035999998450279236 9 +1 1 ATC_RAT_YAW_IMAX 0.222000002861022949 9 +1 1 ATC_RAT_YAW_P 0.359999984502792358 9 +1 1 ATC_SLEW_YAW 1000.000000000000000000 9 +1 1 ATC_THR_MIX_MAN 0.500000000000000000 9 +1 1 ATC_THR_MIX_MAX 0.500000000000000000 9 +1 1 ATC_THR_MIX_MIN 0.100000001490116119 9 +1 1 AUTOTUNE_AGGR 0.100000001490116119 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 AUTOTUNE_MIN_D 0.001000000047497451 9 +1 1 AVD_ENABLE 0 2 +1 1 AVOID_ANGLE_MAX 1000 4 +1 1 AVOID_DIST_MAX 10.000000000000000000 9 +1 1 AVOID_ENABLE 3 2 +1 1 AVOID_MARGIN 2.000000000000000000 9 +1 1 BATT2_AMP_OFFSET 0.000000000000000000 9 +1 1 BATT2_AMP_PERVOL 17.000000000000000000 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_SERIAL_NUM -1 6 +1 1 BATT2_VOLT_MULT 10.100000381469726563 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_AMP_OFFSET 0.000000000000000000 9 +1 1 BATT_AMP_PERVOLT 17.000000000000000000 9 +1 1 BATT_CAPACITY 5100 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_MONITOR 4 2 +1 1 BATT_SERIAL_NUM -1 6 +1 1 BATT_VOLT_MULT 12.020000457763671875 9 1 1 BATT_VOLT_PIN 2 2 +1 1 BATT_VOLT_TIMER 10 2 +1 1 BCN_ALT 0.000000000000000000 9 +1 1 BCN_LATITUDE 0.000000000000000000 9 +1 1 BCN_LONGITUDE 0.000000000000000000 9 +1 1 BCN_ORIENT_YAW 0 4 +1 1 BCN_TYPE 0 2 +1 1 BRD_CAN_ENABLE 0 2 +1 1 BRD_IMU_TARGTEMP -1 2 +1 1 BRD_IO_ENABLE 1 2 1 1 BRD_PWM_COUNT 4 2 1 1 BRD_SAFETYENABLE 1 2 +1 1 BRD_SAFETY_MASK 16368 6 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 BRD_TYPE 2 2 +1 1 BTN_ENABLE 0 2 1 1 CAM_DURATION 10 2 +1 1 CAM_FEEDBACK_PIN -1 2 +1 1 CAM_FEEDBACK_POL 1 2 +1 1 CAM_MAX_ROLL 0 4 +1 1 CAM_MIN_INTERVAL 0 4 +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_DIST 0.000000000000000000 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 CH7_OPT 4 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 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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_FEEL_RP 25 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_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_OFFSET 0.000000000000000000 9 +1 1 RNGFND2_ORIENT 25 2 1 1 RNGFND2_PIN -1 2 +1 1 RNGFND2_POS_X 0.000000000000000000 9 +1 1 RNGFND2_POS_Y 0.000000000000000000 9 +1 1 RNGFND2_POS_Z 0.000000000000000000 9 1 1 RNGFND2_RMETRIC 1 2 -1 1 RNGFND2_SCALING 3 9 +1 1 RNGFND2_SCALING 3.000000000000000000 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_GAIN 0.8 9 +1 1 RNGFND_GAIN 0.800000011920928955 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_OFFSET 0.000000000000000000 9 +1 1 RNGFND_ORIENT 25 2 1 1 RNGFND_PIN -1 2 +1 1 RNGFND_POS_X 0.000000000000000000 9 +1 1 RNGFND_POS_Y 0.000000000000000000 9 +1 1 RNGFND_POS_Z 0.000000000000000000 9 1 1 RNGFND_PWRRNG 0 4 1 1 RNGFND_RMETRIC 1 2 -1 1 RNGFND_SCALING 3 9 +1 1 RNGFND_SCALING 3.000000000000000000 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_PIN -1 2 +1 1 RPM2_SCALING 1.000000000000000000 9 1 1 RPM2_TYPE 0 2 -1 1 RPM_SCALING 1 9 +1 1 RPM_MAX 100000.000000000000000000 9 +1 1 RPM_MIN 10.000000000000000000 9 +1 1 RPM_MIN_QUAL 0.500000000000000000 9 +1 1 RPM_PIN 54 2 +1 1 RPM_SCALING 1.000000000000000000 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 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 5.000000000000000000 9 +1 1 RSSI_PIN_LOW 0.000000000000000000 9 +1 1 RSSI_TYPE 0 2 +1 1 RTL_ALT 100 4 1 1 RTL_ALT_FINAL 0 4 1 1 RTL_CLIMB_MIN 0 4 +1 1 RTL_CONE_SLOPE 3.000000000000000000 9 1 1 RTL_LOIT_TIME 5000 6 +1 1 RTL_SPEED 0 4 1 1 SCHED_DEBUG 0 2 +1 1 SCHED_LOOP_RATE 400 4 1 1 SERIAL0_BAUD 115 6 +1 1 SERIAL0_PROTOCOL 1 2 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 SERIAL2_BAUD 9 6 +1 1 SERIAL2_PROTOCOL 3 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 SERIAL5_BAUD 57 6 +1 1 SERIAL5_PROTOCOL -1 2 +1 1 SERVO10_FUNCTION 0 2 +1 1 SERVO10_MAX 2000 4 +1 1 SERVO10_MIN 1000 4 +1 1 SERVO10_REVERSED 0 2 +1 1 SERVO10_TRIM 1500 4 +1 1 SERVO11_FUNCTION 0 2 +1 1 SERVO11_MAX 2000 4 +1 1 SERVO11_MIN 1000 4 +1 1 SERVO11_REVERSED 0 2 +1 1 SERVO11_TRIM 1500 4 +1 1 SERVO12_FUNCTION 0 2 +1 1 SERVO12_MAX 2000 4 +1 1 SERVO12_MIN 1000 4 +1 1 SERVO12_REVERSED 0 2 +1 1 SERVO12_TRIM 1500 4 +1 1 SERVO13_FUNCTION 0 2 +1 1 SERVO13_MAX 2000 4 +1 1 SERVO13_MIN 1000 4 +1 1 SERVO13_REVERSED 0 2 +1 1 SERVO13_TRIM 1500 4 +1 1 SERVO14_FUNCTION 0 2 +1 1 SERVO14_MAX 2000 4 +1 1 SERVO14_MIN 1000 4 +1 1 SERVO14_REVERSED 0 2 +1 1 SERVO14_TRIM 1500 4 +1 1 SERVO15_FUNCTION 0 2 +1 1 SERVO15_MAX 1900 4 +1 1 SERVO15_MIN 1100 4 +1 1 SERVO15_REVERSED 0 2 +1 1 SERVO15_TRIM 1500 4 +1 1 SERVO16_FUNCTION 0 2 +1 1 SERVO16_MAX 1900 4 +1 1 SERVO16_MIN 1100 4 +1 1 SERVO16_REVERSED 0 2 +1 1 SERVO16_TRIM 1500 4 +1 1 SERVO1_FUNCTION 33 2 +1 1 SERVO1_MAX 2015 4 +1 1 SERVO1_MIN 991 4 +1 1 SERVO1_REVERSED 0 2 +1 1 SERVO1_TRIM 1503 4 +1 1 SERVO2_FUNCTION 34 2 +1 1 SERVO2_MAX 2016 4 +1 1 SERVO2_MIN 991 4 +1 1 SERVO2_REVERSED 0 2 +1 1 SERVO2_TRIM 1503 4 +1 1 SERVO3_FUNCTION 35 2 +1 1 SERVO3_MAX 2016 4 +1 1 SERVO3_MIN 992 4 +1 1 SERVO3_REVERSED 0 2 +1 1 SERVO3_TRIM 992 4 +1 1 SERVO4_FUNCTION 36 2 +1 1 SERVO4_MAX 2015 4 +1 1 SERVO4_MIN 991 4 +1 1 SERVO4_REVERSED 0 2 +1 1 SERVO4_TRIM 1503 4 +1 1 SERVO5_FUNCTION 0 2 +1 1 SERVO5_MAX 2016 4 +1 1 SERVO5_MIN 991 4 +1 1 SERVO5_REVERSED 0 2 +1 1 SERVO5_TRIM 1503 4 +1 1 SERVO6_FUNCTION 0 2 +1 1 SERVO6_MAX 2016 4 +1 1 SERVO6_MIN 991 4 +1 1 SERVO6_REVERSED 0 2 +1 1 SERVO6_TRIM 1503 4 +1 1 SERVO7_FUNCTION 0 2 +1 1 SERVO7_MAX 2016 4 +1 1 SERVO7_MIN 991 4 +1 1 SERVO7_REVERSED 0 2 +1 1 SERVO7_TRIM 1503 4 +1 1 SERVO8_FUNCTION 0 2 +1 1 SERVO8_MAX 2000 4 +1 1 SERVO8_MIN 1000 4 +1 1 SERVO8_REVERSED 0 2 +1 1 SERVO8_TRIM 1500 4 +1 1 SERVO9_FUNCTION 7 2 +1 1 SERVO9_MAX 2000 4 +1 1 SERVO9_MIN 1000 4 +1 1 SERVO9_REVERSED 0 2 +1 1 SERVO9_TRIM 1500 4 +1 1 SERVO_CANESC_BM 0 6 +1 1 SERVO_CANSRV_BM 0 6 1 1 SIMPLE 0 2 -1 1 SR0_EXTRA1 10 4 +1 1 SPRAY_ENABLE 0 2 +1 1 SR0_ADSB 5 4 +1 1 SR0_EXTRA1 0 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_EXT_STAT 0 4 +1 1 SR0_PARAMS 0 4 +1 1 SR0_POSITION 0 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 SR0_RAW_SENS 0 4 +1 1 SR0_RC_CHAN 0 4 +1 1 SR1_ADSB 5 4 +1 1 SR1_EXTRA1 10 4 +1 1 SR1_EXTRA2 10 4 +1 1 SR1_EXTRA3 3 4 +1 1 SR1_EXT_STAT 2 4 +1 1 SR1_PARAMS 10 4 +1 1 SR1_POSITION 3 4 1 1 SR1_RAW_CTRL 0 4 -1 1 SR1_RAW_SENS 0 4 -1 1 SR1_RC_CHAN 0 4 +1 1 SR1_RAW_SENS 2 4 +1 1 SR1_RC_CHAN 2 4 +1 1 SR2_ADSB 5 4 1 1 SR2_EXTRA1 0 4 1 1 SR2_EXTRA2 0 4 1 1 SR2_EXTRA3 0 4 @@ -462,6 +720,7 @@ 1 1 SR2_RAW_CTRL 0 4 1 1 SR2_RAW_SENS 0 4 1 1 SR2_RC_CHAN 0 4 +1 1 SR3_ADSB 5 4 1 1 SR3_EXTRA1 0 4 1 1 SR3_EXTRA2 0 4 1 1 SR3_EXTRA3 0 4 @@ -471,36 +730,47 @@ 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 STAT_BOOTCNT 16 4 +1 1 STAT_FLTTIME 623 6 +1 1 STAT_RESET 20034978 6 +1 1 STAT_RUNTIME 3525 6 1 1 SUPER_SIMPLE 0 2 +1 1 SYSID_ENFORCE 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_FOLLOW 0 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 THROW_MOT_START 0 2 +1 1 THROW_NEXTMODE 18 2 +1 1 THROW_TYPE 0 2 +1 1 THR_DZ 50 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 VEL_XY_FILT_HZ 5.000000000000000000 9 +1 1 VEL_XY_I 0.500000000000000000 9 +1 1 VEL_XY_IMAX 1000.000000000000000000 9 +1 1 VEL_XY_P 1.000000000000000000 9 +1 1 VEL_Z_P 5.000000000000000000 9 +1 1 VISO_ORIENT 0 2 +1 1 VISO_POS_X 0.000000000000000000 9 +1 1 VISO_POS_Y 0.000000000000000000 9 +1 1 VISO_POS_Z 0.000000000000000000 9 +1 1 VISO_TYPE 0 2 +1 1 WPNAV_ACCEL 250.000000000000000000 9 +1 1 WPNAV_ACCEL_Z 100.000000000000000000 9 +1 1 WPNAV_LOIT_JERK 1000.000000000000000000 9 +1 1 WPNAV_LOIT_MAXA 250.000000000000000000 9 +1 1 WPNAV_LOIT_MINA 25.000000000000000000 9 +1 1 WPNAV_LOIT_SPEED 1000.000000000000000000 9 +1 1 WPNAV_RADIUS 200.000000000000000000 9 +1 1 WPNAV_RFND_USE 1 2 +1 1 WPNAV_SPEED 650.000000000000000000 9 +1 1 WPNAV_SPEED_DN 150.000000000000000000 9 +1 1 WPNAV_SPEED_UP 250.000000000000000000 9 +1 1 WP_NAVALT_MIN 0.000000000000000000 9 1 1 WP_YAW_BEHAVIOR 2 2 diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc index 93d14200371b4cb5a60ad50a466eed93fe722e63..fe7908b89f9138d37b08a9b1e6ea03913b81081d 100644 --- a/src/comm/MockLink.cc +++ b/src/comm/MockLink.cc @@ -872,7 +872,7 @@ void MockLink::_respondWithAutopilotVersion(void) uint32_t flightVersion = 0; if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) { flightVersion |= 3 << (8*3); - flightVersion |= 3 << (8*2); + flightVersion |= 5 << (8*2); flightVersion |= 0 << (8*1); flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0); } else if (_firmwareType == MAV_AUTOPILOT_PX4) {