From 04023e5aca37d147712621c870756380c64ef9f3 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sun, 4 Jun 2017 14:59:04 -0700
Subject: [PATCH] Update MockLink/Offline Copter to 3.5
---
src/FirmwarePlugin/APM/APMResources.qrc | 2 +-
...params => Copter3.5.OfflineEditing.params} | 515 ++++++----
src/comm/APMArduCopterMockLink.params | 892 ++++++++++++------
src/comm/MockLink.cc | 2 +-
4 files changed, 936 insertions(+), 475 deletions(-)
rename src/FirmwarePlugin/APM/{Copter3.4.OfflineEditing.params => Copter3.5.OfflineEditing.params} (54%)
diff --git a/src/FirmwarePlugin/APM/APMResources.qrc b/src/FirmwarePlugin/APM/APMResources.qrc
index 8f08af9479..c99292bd40 100644
--- a/src/FirmwarePlugin/APM/APMResources.qrc
+++ b/src/FirmwarePlugin/APM/APMResources.qrc
@@ -51,7 +51,7 @@
<file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
<file alias="APMParameterFactMetaData.Sub.3.5.xml">APMParameterFactMetaData.Sub.3.5.xml</file>
- <file alias="Copter.OfflineEditing.params">Copter3.4.OfflineEditing.params</file>
+ <file alias="Copter.OfflineEditing.params">Copter3.5.OfflineEditing.params</file>
<file alias="Plane.OfflineEditing.params">Plane3.7.OfflineEditing.params</file>
</qresource>
</RCC>
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 b65b77adea..e974e5f52f 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 efd9b002e0..e974e5f52f 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
-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 CIRCLE_RADIUS 1000.000000000000000000 9
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-1 1 RC1_MAX 1900 4
-1 1 RC1_MIN 1101 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 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 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 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 1900 4
-1 1 RC5_MIN 1100 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 1900 4
-1 1 RC6_MIN 1100 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 1900 4
-1 1 RC7_MIN 1100 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 1900 4
-1 1 RC8_MIN 1100 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 1900 4
-1 1 RC9_MIN 1100 4
-1 1 RC9_REV 1 2
+1 1 RC9_MAX 2000 4
+1 1 RC9_MIN 1000 4
+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 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 93d1420037..fe7908b89f 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) {
--
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